Vehicle direction angle determination method and device, vehicle end control equipment and readable storage medium

Abstract

The invention relates to a vehicle direction angle determination method and device, vehicle end control equipment and a readable storage medium, and relates to the technical field of vehicles. The method comprises the steps of obtaining a reference direction angle value of a vehicle in a current period and a plurality of direction angle deviation values corresponding to the current period; the reference direction angle value is obtained by monitoring positioning hardware of the vehicle according to a first period, and the current period is any first period; the multiple direction angle deviation values are output by a rotation angle sensor of the vehicle according to a second period, and the second period is shorter than the first period; obtaining a plurality of target direction angle values of the vehicle in the current period by using the reference direction angle value and the plurality of direction angle deviation values; in this way, the number of the vehicle direction angles obtained by the vehicle in any first period time period is increased, and the improvement of the vehicle direction angle obtaining frequency is beneficial to improving the vehicle running fluency in a picture when the running picture of the vehicle is displayed on the vehicle-mounted software in real time based on the vehicle direction angles.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method and apparatus for determining a vehicle direction angle, a vehicle-side control device, and a computer-readable storage medium. Background Art

[0002] In the related art, regarding the output of the vehicle's angular data, the mainstream solution is highly dependent on the hardware performance of the positioning module in the vehicle. However, after the production of these hardware in the vehicle is completed, the frequency of outputting heading angle data is fixed, for example, the output frequency is once per second or once every two seconds. However, in specific application scenarios, the on-board software system often has higher requirements for the real-time nature of the data, and is eager to obtain more frequent data updates. If the acquisition frequency of the vehicle's heading angle data cannot be increased, when the real-time driving picture of the vehicle is displayed on the map, it will feel that the vehicle is jumping on the map, which obviously reduces the user's experience of using the on-board software. The applicant has found that due to the physical limitations of the hardware in the vehicle itself, it is difficult to meet the current demand for high-frequency data output.

[0003] Therefore, there is an urgent need to provide a technical solution that can increase the output frequency of the vehicle's directional angle data. Summary of the invention

[0004] Based on this, it is necessary to provide a method, device, vehicle-side control device, computer-readable storage medium and computer program product for determining a vehicle direction angle that can improve the output frequency of vehicle direction angle data in order to address the above-mentioned technical problems.

[0005] In a first aspect, the present application provides a method for determining a vehicle direction angle, comprising:

[0006] Acquire a reference direction angle value of the vehicle corresponding to a current cycle, and a plurality of direction angle deviation values ​​corresponding to the current cycle; the reference direction angle value is obtained by monitoring the positioning hardware of the vehicle according to a first cycle, and the current cycle is any one of the first cycles; the plurality of direction angle deviation values ​​are obtained by outputting a rotation angle sensor of the vehicle according to a second cycle, and the second cycle is shorter than the first cycle;

[0007] Using the reference direction angle value and the multiple direction angle deviation values, multiple target direction angle values ​​of the vehicle corresponding to the current cycle are obtained.

[0008] In one embodiment, the use of the reference direction angle value and the multiple direction angle deviation values ​​to obtain multiple target direction angle values ​​of the vehicle corresponding to the current cycle includes:

[0009] Adding the reference direction angle value to the plurality of direction angle deviation values ​​respectively to obtain a plurality of added angle values;

[0010] Obtaining a comparison result between each of the summed angle values ​​and a preset angle range, and obtaining predicted direction angle values ​​corresponding to each of the summed angle values ​​according to the comparison result;

[0011] Based on the reference direction angle value and the plurality of predicted direction angle values, a plurality of target direction angle values ​​of the vehicle corresponding to the current cycle are constructed.

[0012] In one embodiment, the obtaining of the comparison result between each of the summed angle values ​​and a preset angle range, and obtaining the predicted direction angle values ​​corresponding to each of the summed angle values ​​according to the comparison result, includes:

[0013] When the summed angle value is within a preset angle range, determining the summed angle value as a predicted direction angle value of the vehicle;

[0014] In a case where the summed angle value is outside the preset angle range, a predicted direction angle value of the vehicle is determined based on the summed angle value and a critical value of the preset angle range.

[0015] In one embodiment, when the summed angle value is outside the preset angle range, determining the predicted direction angle value of the vehicle based on the summed angle value and a critical value of the preset angle range includes:

[0016] In the case where the summed angle value is greater than or equal to the maximum value of the preset angle range, determining the difference between the summed angle value and the maximum value of the preset angle range as the predicted direction angle value of the vehicle;

[0017] When the summed angle value is less than or equal to the minimum value of the preset angle range, the sum of the summed angle value and the maximum value of the preset angle range is determined as the predicted direction angle value of the vehicle.

[0018] In one embodiment, the obtaining of multiple directional angle deviation values ​​corresponding to the current cycle of the vehicle includes:

[0019] When a reference direction angle value of the vehicle corresponding to the current cycle is obtained, an initial direction angle value of the vehicle corresponding to the current cycle is obtained, and updated direction angle values ​​corresponding to a plurality of second cycles included in the current cycle are obtained; the initial direction angle value and the updated direction angle value are both obtained by monitoring a rotation angle sensor of the vehicle;

[0020] Based on the initial direction angle value and the multiple updated direction angle values, multiple direction angle deviation values ​​corresponding to the current cycle of the vehicle are determined.

[0021] In one embodiment, determining the direction angle deviation value based on the initial direction angle value and the updated direction angle value includes:

[0022] Adding the updated direction angle value to the preset adjustment angle value to obtain an adjusted angle value;

[0023] The difference between the adjusted angle value and the initial direction angle value is determined as the direction angle deviation value.

[0024] In one embodiment, obtaining the initial direction angle value of the vehicle includes:

[0025] Obtaining a three-dimensional rotation vector output by a rotation angle sensor of the vehicle;

[0026] Constructing the three-dimensional rotation vector into a quaternion, and obtaining a rotation matrix based on the quaternion conversion;

[0027] Based on the rotation matrix, a corresponding direction radian value is obtained, and the direction radian value is converted into an initial direction angle value; wherein the direction radian value includes an azimuth angle value, a pitch angle value, and a roll angle value.

[0028] In a second aspect, the present application also provides a device for determining a vehicle direction angle, comprising:

[0029] A data acquisition module, used to acquire a reference direction angle value of the vehicle corresponding to a current cycle, and a plurality of direction angle deviation values ​​corresponding to the current cycle; the reference direction angle value is obtained by monitoring the positioning hardware of the vehicle according to a first cycle, and the current cycle is any one of the first cycles; the plurality of direction angle deviation values ​​are obtained by outputting a rotation angle sensor of the vehicle according to a second cycle, and the second cycle is shorter than the first cycle;

[0030] The result output module is used to obtain multiple target direction angle values ​​of the vehicle corresponding to the current cycle using the reference direction angle value and the multiple direction angle deviation values.

[0031] In a third aspect, the present application further provides a vehicle-side control device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0032] Acquire a reference direction angle value of the vehicle corresponding to a current cycle, and a plurality of direction angle deviation values ​​corresponding to the current cycle; the reference direction angle value is obtained by monitoring the positioning hardware of the vehicle according to a first cycle, and the current cycle is any one of the first cycles; the plurality of direction angle deviation values ​​are obtained by outputting a rotation angle sensor of the vehicle according to a second cycle, and the second cycle is shorter than the first cycle;

[0033] Using the reference direction angle value and the multiple direction angle deviation values, multiple target direction angle values ​​of the vehicle corresponding to the current cycle are obtained.

[0034] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0035] Acquire a reference direction angle value of the vehicle corresponding to a current cycle, and a plurality of direction angle deviation values ​​corresponding to the current cycle; the reference direction angle value is obtained by monitoring the positioning hardware of the vehicle according to a first cycle, and the current cycle is any one of the first cycles; the plurality of direction angle deviation values ​​are obtained by outputting a rotation angle sensor of the vehicle according to a second cycle, and the second cycle is shorter than the first cycle;

[0036] Using the reference direction angle value and the multiple direction angle deviation values, multiple target direction angle values ​​of the vehicle corresponding to the current cycle are obtained.

[0037] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0038] Acquire a reference direction angle value of the vehicle corresponding to a current cycle, and a plurality of direction angle deviation values ​​corresponding to the current cycle; the reference direction angle value is obtained by monitoring the positioning hardware of the vehicle according to a first cycle, and the current cycle is any one of the first cycles; the plurality of direction angle deviation values ​​are obtained by outputting a rotation angle sensor of the vehicle according to a second cycle, and the second cycle is shorter than the first cycle;

[0039] Using the reference direction angle value and the multiple direction angle deviation values, multiple target direction angle values ​​of the vehicle corresponding to the current cycle are obtained.

[0040] The above-mentioned vehicle direction angle determination method, device, vehicle-side control device, computer-readable storage medium and computer program product provided by the present application are obtained by obtaining the reference direction angle value of the vehicle corresponding to the current cycle, and multiple direction angle deviation values ​​corresponding to the current cycle; wherein the reference direction angle value is obtained by monitoring the vehicle's positioning hardware according to the first cycle, and the current cycle is any first cycle; multiple direction angle deviation values ​​are obtained by outputting the vehicle's rotation angle sensor according to the second cycle, and the second cycle is shorter than the first cycle; that is, within any first cycle, a reference direction angle value and multiple direction deviation values ​​of the vehicle can be obtained; then, using the obtained reference direction angle value and multiple direction angle deviation values, multiple target direction angle values ​​of the vehicle corresponding to the current cycle are obtained; in this way, the number of vehicle direction angles (target direction angle values) that can be obtained by the vehicle within any first cycle time period is increased, that is, the frequency of obtaining the vehicle direction angle is improved, which is conducive to improving the smoothness of the vehicle driving in the picture when the vehicle driving picture is displayed in real time on the vehicle software based on the vehicle direction angle, thereby improving the user's vehicle software usage experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 A diagram of an application environment of a method for determining a vehicle direction angle in one embodiment;

[0043] Figure 2 is a schematic flow chart of a method for determining a vehicle direction angle in one embodiment;

[0044] Figure 3 A schematic diagram of a process of obtaining a direction angle value based on a rotation angle sensor in one embodiment;

[0045] Figure 4 A schematic diagram of a process for obtaining a predicted direction angle value in one embodiment;

[0046] Figure 5 is a structural block diagram of a device for determining a vehicle direction angle in one embodiment;

[0047] Figure 6 This is a diagram of the internal structure of a vehicle-side control device in one embodiment. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] The navigation module hardware currently used in vehicles usually only has a three-axis gyroscope and a three-axis accelerometer, but no magnetometer. In the related art, the implementation method of using a magnetometer in the sensor is mentioned, but the sensor using a magnetometer will cause a large error in the calculated vehicle angle, that is, the sensor using a magnetometer will not accurately predict the vehicle's driving direction.

[0050] In addition, based on the software and hardware structure used in existing vehicles, although it is possible to obtain the vehicle's current heading angle (direction angle) from the vehicle's map module based on the hardware in the vehicle at a frequency of approximately once per second or once every two seconds, this heading angle does not meet our required usage frequency; specifically, it does not meet the requirement of displaying the vehicle's smooth driving picture in real time on the on-board software based on the vehicle's direction angle.

[0051] Based on this, it is necessary to provide a method for determining a vehicle direction angle that can improve the output frequency of vehicle direction angle data in order to address the above technical issues.

[0052] Figure 1 FIG. 1 is an application environment diagram of a method for determining a vehicle direction angle in an embodiment. The method for determining a vehicle direction angle provided in the embodiment of the present application can be applied to the following examples: Figure 1 In the application environment shown. Among them, the vehicle device 12 communicates with the server 14 through the network. The data storage system can store the data that the server 14 needs to process. The data storage system can be integrated on the server 14, or it can be placed on the cloud or other network servers. The server 104 can be implemented as an independent server or a server cluster composed of multiple servers. Among them, the vehicle device 12 can be, but is not limited to, various smart electric vehicles, such as smart electric cars, smart electric bicycles, etc.

[0053] Figure 2 FIG. 1 is a flow chart of a method for determining a vehicle direction angle in an embodiment. Please refer to FIG. Figure 1 and Figure 2 The present application provides a method for determining a vehicle direction angle, and the method is applied to Figure 1 The vehicle device 12 in the example is used as an example for illustration. It is understandable that the method can also be applied to a server, and can also be applied to a system including a terminal (vehicle device) and a server, and is implemented through the interaction between the terminal and the server. The method for determining the vehicle direction angle includes the following steps 101 to 102.

[0054] Step 101, obtaining a reference direction angle value of the vehicle corresponding to a current cycle, and a plurality of direction angle deviation values ​​corresponding to the current cycle; the reference direction angle value is obtained by monitoring the positioning hardware of the vehicle according to a first cycle, and the current cycle is any first cycle; the plurality of direction angle deviation values ​​are obtained by outputting a rotation angle sensor of the vehicle according to a second cycle, and the second cycle is shorter than the first cycle.

[0055] The heading angle, also known as the heading angle, refers to the angle between the vehicle's center of mass speed and the horizontal axis in the ground coordinate system. It can also be understood as the angle of the vehicle's driving direction relative to a certain reference line, where the reference line is, for example, the north direction or the extension direction of a fixed road; therefore, the vehicle heading angle is specifically an angle value. Based on this, the method for determining the vehicle heading angle provided in this application is also a method for determining the vehicle heading angle value.

[0056] The direction angle deviation value may refer to the difference between the angle value monitored by the rotation angle sensor of the vehicle in any second cycle starting from the second second cycle in the current cycle and the angle value monitored in the first second cycle. Specifically, the direction angle deviation value is also an angle value.

[0057] The vehicle positioning hardware may be the navigation module hardware in the vehicle, and may be the three-axis gyroscope and the three-axis angular velocity meter as described in the background technology. That is, the vehicle positioning hardware is the hardware module in the existing vehicle that can detect the vehicle heading angle. In the prior art, the output frequency of the vehicle heading angle based on the hardware module is once every two seconds or once every second.

[0058] The vehicle's rotation angle sensor can choose to use a game vector sensor, which can sense the rotation angle involved in the vehicle's driving process without using the geomagnetic field, thus avoiding the angle measurement error caused by the geomagnetic field. Among them, the output frequency of the raw data of the game vector sensor (game sensor) can reach 100 times per second.

[0059] Specifically, in step 101 provided above in the present application, the reference direction angle value of the vehicle is monitored and acquired through the positioning hardware of the vehicle according to the first cycle, that is, a reference direction angle value of the vehicle is acquired in each first cycle; the reference direction angle value here is, for example, the heading angle (direction angle) described in the background technology. At the same time, the direction angle deviation value of the vehicle is monitored and acquired according to the second cycle through the newly installed rotation angle sensor (game sensor) in the vehicle. Since the game sensor has a high-frequency data detection and output capability, the second cycle is shorter than the first cycle. For example, the cycle time period corresponding to the first cycle is 1S (seconds), and the cycle time period corresponding to the second cycle is 0.1S. Among them, the current cycle is also a first cycle. In the current cycle, a reference direction angle value of the vehicle and multiple direction angle deviation values ​​can be acquired.

[0060] Step 102, using the reference direction angle value and multiple direction angle deviation values, obtain multiple target direction angle values ​​of the vehicle corresponding to the current cycle.

[0061] The target direction angle value is the vehicle direction angle (vehicle direction angle value) obtained based on the vehicle direction angle determination method provided in the present application. The multiple target direction angle values ​​include a reference direction angle value and an angle value obtained by processing the direction angle deviation value and the reference direction angle value in a preset manner.

[0062] Specifically, when a reference direction angle value and multiple direction angle deviation values ​​within the current cycle are obtained based on executing step 101, step 102 can be further executed to construct multiple target direction angle values ​​within the current cycle of the vehicle based on the reference direction angle value and the angle value obtained by processing the direction angle deviation value and the reference direction angle value in a preset manner, so that multiple vehicle direction angles of the vehicle can be obtained within the current cycle (a first cycle), rather than one vehicle direction angle in the prior art.

[0063] It can be seen that in the above-mentioned method for determining the vehicle direction angle provided by the present application, a reference direction angle value of the vehicle corresponding to the current cycle and multiple direction angle deviation values ​​corresponding to the current cycle are obtained; wherein the reference direction angle value is obtained by monitoring the vehicle's positioning hardware according to the first cycle, and the current cycle is any first cycle; multiple direction angle deviation values ​​are obtained by outputting the vehicle's rotation angle sensor according to the second cycle, and the second cycle is shorter than the first cycle; that is, within any first cycle, a reference direction angle value and multiple direction deviation values ​​of the vehicle can be obtained; then, using the obtained reference direction angle value and multiple direction angle deviation values, multiple target direction angle values ​​of the vehicle corresponding to the current cycle are obtained; in this way, the number of vehicle direction angles (target direction angle values) that can be obtained by the vehicle within any first cycle time period is increased, that is, the frequency of obtaining the vehicle direction angle is improved, which is beneficial to display the vehicle's driving picture in real time on the vehicle-mounted software based on the vehicle direction angle, and can improve the smoothness of the vehicle's driving in the picture, thereby improving the user's vehicle-mounted software usage experience.

[0064] In an exemplary embodiment, the above step 102 performs: using the reference direction angle value and the multiple direction angle deviation values ​​to obtain multiple target direction angle values ​​of the vehicle corresponding to the current cycle, which can be specifically implemented by executing steps 121 to 123, wherein:

[0065] Step 121, summing the reference direction angle value and the plurality of direction angle deviation values ​​respectively to obtain a plurality of summed angle values;

[0066] Step 122, obtaining a comparison result between each summed angle value and a preset angle range, and obtaining a predicted direction angle value corresponding to each summed angle value according to the comparison result;

[0067] Step 123, constructing a plurality of target direction angle values ​​of the vehicle corresponding to the current cycle based on the reference direction angle value and the plurality of predicted direction angle values.

[0068] Specifically, when a reference direction angle value and multiple direction angle deviation values ​​in the current cycle of the vehicle are obtained, step 121 can be executed to add each direction angle deviation value and the reference direction angle value to obtain the added angle value of each direction angle deviation value and the reference direction angle value; that is, by executing step 121, multiple added angle values ​​corresponding to the multiple direction angle deviation values ​​can be obtained.

[0069] Then, step 122 is executed to determine or extract the preset angle range for the summed angle value, and then, each summed angle value is compared with the preset angle range to determine whether each summed angle value falls within the preset angle range, thereby obtaining the comparison result of each summed angle value with the preset angle range. Then, based on the comparison result, the predicted direction angle value corresponding to each summed angle value is obtained, wherein, under different comparison results, the calculation method or conversion method of converting the summed angle value into the predicted direction angle value may be different, and the specific selectable calculation method will be illustrated in the embodiment described later. The predicted direction angle value here is the angle value obtained by processing the direction angle deviation value and the reference direction angle value in a preset manner.

[0070] Then, step 123 may be executed to determine a reference direction angle value and a plurality of predicted direction angle values ​​acquired in the current cycle as a plurality of direction angles (target direction angle values) of the vehicle in the current cycle.

[0071] By executing the above steps, multiple vehicle direction angles of the vehicle can be obtained within the current cycle (a first cycle) of the vehicle, rather than one vehicle direction angle in the prior art; by increasing the number of vehicle direction angles (target direction angle values) that can be obtained by the vehicle within any first cycle time period, the frequency of obtaining the vehicle direction angle is improved, which is beneficial for improving the smoothness of the vehicle driving in the picture when the vehicle driving picture is displayed in real time on the in-vehicle software based on the vehicle direction angle, and thus is beneficial to improving the user's in-vehicle software usage experience.

[0072] In an exemplary embodiment, the above step 122 performs: obtaining the comparison result of each summed angle value with the preset angle range, and obtaining the predicted direction angle value corresponding to each summed angle value according to the comparison result, which can be specifically implemented by executing steps 221 to 223, wherein:

[0073] Step 221, when the summed angle value is within a preset angle range, determining the summed angle value as a predicted direction angle value of the vehicle;

[0074] Step 222, when the summed angle value is greater than or equal to the maximum value of the preset angle range, determine the difference between the summed angle value and the maximum value of the preset angle range as the predicted direction angle value of the vehicle;

[0075] Step 223, when the summed angle value is less than or equal to the minimum value of the preset angle range, determine the sum of the summed angle value and the maximum value of the preset angle range as the predicted direction angle value of the vehicle.

[0076] Specifically, for the comparison results of the above-mentioned summed angle values ​​and the preset angle range, the present application provides three optional comparison results. The first comparison result is that the summed angle value is within the preset angle range, the second comparison result is that the summed angle value is outside the preset angle range and the summed angle value is greater than or equal to the maximum value of the preset angle range, and the third comparison result is that the summed angle value is outside the preset angle range and the summed angle value is less than or equal to the minimum value of the preset angle range.

[0077] Further, for the above-mentioned acquisition of predicted direction angle values ​​corresponding to each summed angle value based on the comparison result, the present application provides an optional embodiment, including the three implementation methods of steps 221-223 mentioned above; that is, when the comparison result is the first comparison result mentioned above, the summed angle value is determined as the predicted direction angle value; when the comparison result is the second comparison result mentioned above, the difference between the summed angle value and the maximum value of the preset angle range is determined as the predicted direction angle value; when the comparison result is the third comparison result mentioned above, the sum of the summed angle value and the maximum value of the preset angle range is determined as the predicted direction angle value.

[0078] Among them, for the preset angle range, the present application provides an optional embodiment in which the specific value range of the preset angle range is between 0 degrees and 360 degrees, wherein 0 degrees and 360 degrees are two critical values ​​of the preset angle range.

[0079] By obtaining the predicted direction angle value corresponding to each summed angle value based on the comparison result between each summed angle value and the preset angle range provided by the present application, the accuracy of the obtained predicted direction angle value can be improved, thereby facilitating higher accuracy of the real-time driving picture of the vehicle displayed on the in-vehicle software based on the vehicle direction angle, which is beneficial to improving the user's in-vehicle software usage experience.

[0080] In an exemplary embodiment, the above step 101 performs: obtaining multiple directional angle deviation values ​​corresponding to the current cycle of the vehicle, which can be specifically implemented by executing steps 111-112, wherein:

[0081] Step 111, when the reference direction angle value of the vehicle corresponding to the current cycle is obtained, the initial direction angle value of the vehicle corresponding to the current cycle is obtained, and the updated direction angle values ​​corresponding to multiple second cycles included in the current cycle are obtained; the initial direction angle value and the updated direction angle value are both monitored by the rotation angle sensor of the vehicle;

[0082] Step 112, based on the initial direction angle value and the multiple updated direction angle values, determine multiple direction angle deviation values ​​corresponding to the current cycle of the vehicle.

[0083] Specifically, for the method of obtaining the direction angle deviation value, the present application provides an optional implementation method, in which, when the reference direction angle value of the vehicle corresponding to the current cycle is obtained, the rotation angle sensor of the vehicle can be triggered so that the rotation angle sensor starts to obtain the direction angle value of the vehicle, and continuously updates and obtains the updated value of the direction angle value of the vehicle based on the second cycle; that is, the initial direction angle value of the vehicle corresponding to the current cycle and the updated direction angle values ​​of the multiple second cycles contained in the current cycle are obtained through the rotation angle sensor of the vehicle, and then each updated direction angle value is compared with the initial direction angle value through a preset operation method or conversion method to obtain the direction angle deviation value corresponding to each updated direction angle value. As for the relevant operation method or conversion method for obtaining the direction angle deviation value, the present application does not make specific restrictions, and a selectable operation method will be provided for reference later.

[0084] The method for obtaining the directional angle deviation value provided in the present application can improve the accuracy of each directional angle deviation value obtained, which is beneficial to improving the accuracy of the predicted directional angle value finally obtained based on the directional angle deviation value.

[0085] In an exemplary embodiment, the above step 112: determining the direction angle deviation value based on the initial direction angle value and the updated direction angle value can be implemented by executing steps 113-114, wherein:

[0086] Step 113, adding the updated direction angle value to the preset adjustment angle value to obtain an adjusted angle value;

[0087] Step 114: determine the difference between the adjusted angle value and the initial direction angle value as the direction angle deviation value.

[0088] Specifically, for the acquisition of directional angle deviation values, the present application provides an optional implementation method in which each acquired updated directional angle value is first added to a preset adjustment angle value to obtain a corresponding adjusted angle value, and then each adjusted angle value is subtracted from the initial directional angle value, and the difference between each adjusted angle value and the initial directional angle value is used as the directional angle deviation value corresponding to each updated directional angle value.

[0089] By introducing the preset adjustment angle value through the calculation method of the above-mentioned directional angle deviation value provided by the present application, the accuracy of each directional angle deviation value obtained can be further improved, which is conducive to improving the accuracy of the predicted directional angle value finally obtained based on the directional angle deviation value. Among them, for the preset adjustment angle value, the present application provides an optional value of 180 degrees, but this is only an optional embodiment provided by the present application, and the specific value of the preset adjustment angle value can also be adjusted based on demand.

[0090] In an exemplary embodiment, the step 111 above of obtaining the initial direction angle value of the vehicle may be implemented by executing steps 115 to 117, wherein:

[0091] Step 115, obtaining a three-dimensional rotation vector output by a rotation angle sensor of the vehicle;

[0092] Step 116, constructing the three-dimensional rotation vector into a quaternion, and obtaining a rotation matrix based on the quaternion conversion;

[0093] Step 117, obtaining the corresponding direction radian value based on the rotation matrix, and converting the direction radian value into an initial direction angle value; wherein the direction radian value includes an azimuth angle value, a pitch angle value, and a roll angle value.

[0094] Specifically, the data directly sensed and output by existing game sensors is usually a floating-point array containing three-dimensional rotation vector data; based on this, for obtaining the initial direction angle value of the vehicle, the present application provides an optional implementation method, which is to first obtain the three-dimensional rotation vector sensed and output by the vehicle's rotation angle sensor, which can also be said to be a floating-point array containing three-dimensional rotation vector data, and then, construct the three-dimensional rotation vector into a quaternion through calculation, and use the conversion formula to obtain the corresponding rotation matrix based on the quaternion conversion, which can specifically be a 3×3 rotation matrix; then, the corresponding direction radian value is calculated based on the rotation matrix, and the direction radian value is converted into an angle, that is, the initial direction angle value is obtained.

[0095] Regarding the acquisition of the initial direction angle value of the vehicle, the present application also provides a specific implementation method, which is to obtain a floating point array containing three-dimensional rotation vector data transmitted from a sensor (rotation angle sensor), whose length and direction represent the rotation of the device (such as a vehicle) relative to a reference coordinate system, and then construct the rotation vector into a quaternion through calculation, and then use the conversion formula to convert the quaternion into a 3x3 rotation matrix, and then calculate the rotation matrix into a direction radian value, and finally convert the radian into an angle. For the relevant process of obtaining the initial direction angle value, please refer to Figure 3 Steps S1 to S5 are shown, wherein: S1, (obtain) a three-dimensional rotation vector; perform vector conversion on the three-dimensional rotation vector; S2, (obtain) a quaternion; convert the quaternion based on a conversion formula; S3, (obtain) a 3x3 rotation matrix; perform posture calculation on the rotation matrix; S4, (obtain) a direction angle in radians; perform radian conversion on the direction angle in radians; S5, (obtain) a direction angle, i.e., an initial direction angle value.

[0096] It should be supplemented that the above steps S1 to S5 may also be used to acquire the update direction angle value using a rotation angle sensor.

[0097] For this embodiment, the applicant also provides an implementation method for converting a three-dimensional rotation vector into a rotation matrix, which provides an optional function method SensorManager.getRotationMatrixFromVector(r, v), which is used to calculate the three-dimensional rotation vector as a 3x3 rotation matrix; wherein the rotation matrix r is a 3x3 matrix used to represent the rotation of the device (vehicle) relative to a reference coordinate system; the parameter v is an input parameter, which is an array containing four elements, wherein the first three elements represent the vector part of the rotation (x, y, z), and the fourth element is the scalar part (usually the w component of the quaternion). Also provided is an optional function method SensorManager.getOrientation(v, values), which is used to extract the device's orientation information from the rotation matrix r, including azimuth (rotation around the Z axis, in degrees), pitch (Pitch, rotation around the X axis, in degrees), and roll (Roll, rotation around the Y axis, in degrees). The floating point array of three-dimensional rotation vector data can be expressed as float gameAngel=(float) Math.toDegrees(values[0]).

[0098] For this embodiment, the first received radian value is converted into an angle and recorded as the initial value of the current second (current cycle), that is, the initial direction angle value, which can be recorded as initAngel; then, the latest radian value of the current game sensor is continuously obtained, the radian is converted into an angle (update the direction angle value), and 180 degrees are added to obtain the corresponding adjusted angle value, which is recorded as gameAngel, gameAngel = Math.toDegrees(values[0])+180; then, the adjusted angle value and the initial direction angle value are calculated to obtain the changed angle, that is, the direction angle deviation value, which can be recorded as changeAngel, changeAngel=gameAngel-initAngel. Then, the change angle (direction angle deviation value) is added and subtracted from the heading angle (reference direction angle value). Because the angle range is between 0 and 360 degrees, in the following case calculation, the values ​​exceeding 360 degrees and less than 0 degrees are eliminated. After the calculation, the predicted vehicle direction angle is obtained, which is recorded as yaw. The specific calculation method of yaw is: when baseAngel+changeAngel>=360, yaw=baseAngel+changeAngel-360; when baseAngel+changeAngel<=0, yaw=baseAngel+changeAngel+360; when baseAngel+changeAngel is between 0-360 degrees, yaw=baseAngel+changeAngel.

[0099] For the method for determining the vehicle direction angle provided in this application, a specific embodiment is provided here, which is to monitor the positioning module NaviClientManager of the domestic map in real time to obtain the current vehicle direction angle (reference direction angle value). The data collection frequency at this time is, for example, once a second, and the current vehicle direction angle is used as the reference value within one second (current cycle), recorded as baseAngel; then, establish the data monitoring of the game sensor, first obtain the SensorManager of the system, that is, the game sensor, and then use the SensorManager to register the game sensor data monitoring, wherein the registration monitoring step only needs to be performed once, and the received raw data is directly used in the subsequent process; after monitoring, the raw data of the game sensor can be received, because the output frequency of the raw data of the game sensor can reach one hundred times per second, so after calculation, our vehicle direction angle output frequency can also reach one hundred times. Then, based on the above steps S1-S5, the raw data (three-dimensional rotation vector) can be processed to obtain the predicted direction angle value corresponding to the data output by the game sensor; then, based on the reference direction angle value corresponding to the current cycle and multiple predicted direction angle values, multiple target direction angle values ​​corresponding to the current cycle of the vehicle are constructed. For the relevant process of obtaining the predicted direction angle value, please refer to Figure 4 Steps S11 to S16 are shown, wherein:

[0100] S11, NaviClientManager obtains the vehicle direction angle (reference direction angle value); S12, establishes sensor monitoring, specifically the game sensor; based on the analysis of the data output by the game sensor, obtains the initial direction angle value; S13, records the initialization direction angle (initial direction angle value); S14, receives the new sensor angle (update direction angle value) through the game sensor; S15, obtains the sensor's change angle (direction angle deviation value) by calculating the initial direction angle value and the update direction angle value; S16, calculates the change angle and the vehicle direction angle (reference direction angle value) to obtain the actual direction angle, which is the predicted direction angle value obtained based on the update direction angle value. Steps S13-S16 are a single calculation process corresponding to the first cycle.

[0101] It should also be added that because the data from the game sensor will have a little offset after a long period of calculation, the initial value of the calculation needs to be calibrated in real time. Each time the calibration is performed, the baseline vehicle heading angle (baseAngel) and the initial value of the game sensor (initAngel) will be refreshed every second (for example, a first cycle), and then the above steps will be repeated for calculation, so as to achieve the effect of obtaining the current direction angle of the vehicle and increasing the direction angle frequency.

[0102] The method for determining the vehicle direction angle provided in the present application takes the direction angle (reference direction angle value) transmitted by the hardware in a single time as a reference, and then combines the data input by the sensor to calculate a more accurate vehicle direction angle (target direction angle value) through an algorithm. In other words, it breaks through the limitations of the hardware. Without changing the original hardware, the real-time direction angle is calculated by the algorithm using the sensor provided by the device, and then output. It can be seen that based on the method for determining the vehicle direction angle provided in the present application, the problem of low frequency of direction angle acquisition is solved by using a software algorithm while maintaining the original hardware architecture of the vehicle, without the need for new hardware. At the same time, it can also perform data calibration every one or two seconds based on the frequency of the hardware, specifically the calibration of the initial direction angle value, which takes a short calculation time and has a high data accuracy; the frequency of data output after calculation is greatly improved.

[0103] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0104] Based on the same inventive concept, the embodiment of the present application also provides a vehicle direction angle determination device for implementing the vehicle direction angle determination method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiments of one or more vehicle direction angle determination devices provided below can refer to the limitations of the vehicle direction angle determination method above, and will not be repeated here.

[0105] In an exemplary embodiment, Figure 5 As shown, a vehicle direction angle determination device 300 is provided, comprising: a data acquisition module 81 and a result output module 82, wherein:

[0106] The data acquisition module 81 is used to acquire the reference direction angle value of the vehicle corresponding to the current cycle, and multiple direction angle deviation values ​​corresponding to the current cycle; the reference direction angle value is obtained by monitoring the positioning hardware of the vehicle according to the first cycle, and the current cycle is any first cycle; the multiple direction angle deviation values ​​are obtained by outputting the rotation angle sensor of the vehicle according to the second cycle, and the second cycle is shorter than the first cycle;

[0107] The result output module 82 is used to obtain multiple target direction angle values ​​of the vehicle corresponding to the current cycle using the reference direction angle value and multiple direction angle deviation values.

[0108] In an exemplary embodiment, when the result output module 82 is used to obtain multiple target direction angle values ​​of the vehicle corresponding to the current period using a reference direction angle value and multiple direction angle deviation values, it is specifically used to add the reference direction angle value and the multiple direction angle deviation values ​​respectively to obtain multiple added angle values; obtain a comparison result between each added angle value and a preset angle range, and obtain a predicted direction angle value corresponding to each added angle value according to the comparison result; and construct multiple target direction angle values ​​of the vehicle corresponding to the current period based on the reference direction angle value and the multiple predicted direction angle values.

[0109] In an exemplary embodiment, the result output module 82 is used to obtain the comparison result between each summed angle value and the preset angle range, and obtain the predicted direction angle value corresponding to each summed angle value according to the comparison result. Specifically, when the summed angle value is within the preset angle range, the summed angle value is determined to be the predicted direction angle value of the vehicle; when the summed angle value is greater than or equal to the maximum value of the preset angle range, the difference between the summed angle value and the maximum value of the preset angle range is determined to be the predicted direction angle value of the vehicle; when the summed angle value is less than or equal to the minimum value of the preset angle range, the sum of the summed angle value and the maximum value of the preset angle range is determined to be the predicted direction angle value of the vehicle.

[0110] In an exemplary embodiment, when the data acquisition module 81 is used to obtain multiple directional angle deviation values ​​corresponding to the current cycle of the vehicle, it is specifically used to obtain the initial directional angle value of the vehicle corresponding to the current cycle, and obtain the updated directional angle values ​​corresponding to multiple second cycles included in the current cycle after obtaining the reference directional angle value of the vehicle corresponding to the current cycle; the initial directional angle value and the updated directional angle value are both monitored by the vehicle's rotation angle sensor; based on the initial directional angle value and the multiple updated directional angle values, determine the multiple directional angle deviation values ​​corresponding to the current cycle of the vehicle.

[0111] In an exemplary embodiment, when the data acquisition module 81 is used to determine the direction angle deviation value based on the initial direction angle value and the updated direction angle value, it is specifically used to add the updated direction angle value and the preset adjustment angle value to obtain the adjusted angle value; and the difference between the adjusted angle value and the initial direction angle value is determined as the direction angle deviation value.

[0112] In an exemplary embodiment, when the data acquisition module 81 is used to obtain the initial direction angle value of the vehicle, it is specifically used to obtain the three-dimensional rotation vector output by the vehicle's rotation angle sensor; construct the three-dimensional rotation vector into a quaternion, and obtain a rotation matrix based on the quaternion conversion; obtain the corresponding direction radian value based on the rotation matrix, and convert the direction radian value into an initial direction angle value; wherein the direction radian value includes an azimuth angle value, a pitch angle value, and a roll angle value.

[0113] Each module in the above-mentioned vehicle direction angle determination device can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the vehicle-side control device in the form of hardware, or can be stored in the memory in the vehicle-side control device in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0114] Figure 6 FIG. 1 is an internal structure diagram of a vehicle-side control device in an embodiment. In an exemplary embodiment, a vehicle-side control device is provided. The internal structure diagram of the vehicle-side control device can be as follows: Figure 6 As shown. The vehicle-side control device includes a processor and a memory. Among them, the processor of the vehicle-side control device is used to provide computing and control capabilities. The memory of the vehicle-side control device includes a non-volatile storage medium, and the non-volatile storage medium stores a computer program. When the computer program is executed by the processor, a control method for upgrading vehicle functions is implemented.

[0115] Those skilled in the art will understand that Figure 6 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the vehicle-side control device to which the scheme of the present application is applied. The specific vehicle-side control device may include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0116] Based on the same inventive concept, the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the aforementioned method for determining the vehicle direction angle is implemented. The method for determining the vehicle direction angle is any one of the methods for determining the vehicle direction angle mentioned in the embodiments of the present application. Relevant embodiments can be found above.

[0117] Based on the same inventive concept, the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the aforementioned method for determining the vehicle direction angle. The method for determining the vehicle direction angle is any one of the methods for determining the vehicle direction angle mentioned in the embodiments of the present application. Relevant embodiments can be found above.

[0118] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0119] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0120] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0121] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for determining a vehicle direction angle, characterized in that: The method comprises: Acquire a reference direction angle value of the vehicle corresponding to a current cycle, and a plurality of direction angle deviation values ​​corresponding to the current cycle; the reference direction angle value is obtained by monitoring the positioning hardware of the vehicle according to a first cycle, and the current cycle is any one of the first cycles; the plurality of direction angle deviation values ​​are obtained by outputting a rotation angle sensor of the vehicle according to a second cycle, and the second cycle is shorter than the first cycle; Using the reference direction angle value and the multiple direction angle deviation values, multiple target direction angle values ​​of the vehicle corresponding to the current cycle are obtained.

2. The method according to claim 1, characterized in that The using the reference direction angle value and the multiple direction angle deviation values ​​to obtain multiple target direction angle values ​​of the vehicle corresponding to the current cycle includes: Adding the reference direction angle value to the plurality of direction angle deviation values ​​respectively to obtain a plurality of added angle values; Obtaining a comparison result between each of the summed angle values ​​and a preset angle range, and obtaining predicted direction angle values ​​corresponding to each of the summed angle values ​​according to the comparison result; Based on the reference direction angle value and the plurality of predicted direction angle values, a plurality of target direction angle values ​​of the vehicle corresponding to the current cycle are constructed.

3. The method according to claim 2, characterized in that The obtaining of a comparison result between each of the summed angle values ​​and a preset angle range, and obtaining predicted direction angle values ​​corresponding to each of the summed angle values ​​according to the comparison result, includes: When the summed angle value is within a preset angle range, determining the summed angle value as a predicted direction angle value of the vehicle; In a case where the summed angle value is outside the preset angle range, a predicted direction angle value of the vehicle is determined based on the summed angle value and a critical value of the preset angle range.

4. The method according to claim 3, characterized in that When the summed angle value is outside the preset angle range, determining the predicted direction angle value of the vehicle based on the summed angle value and a critical value of the preset angle range includes: In the case where the summed angle value is greater than or equal to the maximum value of the preset angle range, determining the difference between the summed angle value and the maximum value of the preset angle range as the predicted direction angle value of the vehicle; When the summed angle value is less than or equal to the minimum value of the preset angle range, the sum of the summed angle value and the maximum value of the preset angle range is determined as the predicted direction angle value of the vehicle.

5. The method according to claim 1, characterized in that The obtaining of multiple directional angle deviation values ​​corresponding to the current cycle of the vehicle includes: When a reference direction angle value of the vehicle corresponding to the current cycle is obtained, an initial direction angle value of the vehicle corresponding to the current cycle is obtained, and updated direction angle values ​​corresponding to a plurality of second cycles included in the current cycle are obtained; the initial direction angle value and the updated direction angle value are both obtained by monitoring a rotation angle sensor of the vehicle; Based on the initial direction angle value and the multiple updated direction angle values, multiple direction angle deviation values ​​corresponding to the current cycle of the vehicle are determined.

6. The method according to claim 5, characterized in that The determining the direction angle deviation value based on the initial direction angle value and the updated direction angle value comprises: Adding the updated direction angle value to the preset adjustment angle value to obtain an adjusted angle value; The difference between the adjusted angle value and the initial direction angle value is determined as the direction angle deviation value.

7. The method according to claim 5, characterized in that The obtaining of the initial direction angle value of the vehicle includes: Obtaining a three-dimensional rotation vector output by a rotation angle sensor of the vehicle; Constructing the three-dimensional rotation vector into a quaternion, and obtaining a rotation matrix based on the quaternion conversion; Based on the rotation matrix, a corresponding direction radian value is obtained, and the direction radian value is converted into an initial direction angle value; wherein the direction radian value includes an azimuth angle value, a pitch angle value, and a roll angle value.

8. A device for determining a vehicle direction angle, characterized in that: The device comprises: A data acquisition module, used to acquire a reference direction angle value of the vehicle corresponding to a current cycle, and a plurality of direction angle deviation values ​​corresponding to the current cycle; the reference direction angle value is obtained by monitoring the positioning hardware of the vehicle according to a first cycle, and the current cycle is any one of the first cycles; the plurality of direction angle deviation values ​​are obtained by outputting a rotation angle sensor of the vehicle according to a second cycle, and the second cycle is shorter than the first cycle; The result output module is used to obtain multiple target direction angle values ​​of the vehicle corresponding to the current cycle using the reference direction angle value and the multiple direction angle deviation values.

9. A vehicle-side control device, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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