Abnormal track point position adjustment method and device, equipment and storage medium

Abstract

The invention relates to a position adjustment method and device of an abnormal track point, equipment and a storage medium. The method comprises the following steps: identifying a normal track point and an abnormal track point which are adjacent in position in a target driving track corresponding to a target vehicle; determining a vehicle driving distance between the normal track point and the abnormal track point; selecting a target driving direction from the vehicle driving direction of the normal track point and the vehicle driving direction of the abnormal track point; and adjusting the track point position of the abnormal track point according to the target driving direction and the vehicle driving distance to obtain the target position of the abnormal track point. By adopting the technical scheme, the continuity of the target driving track is ensured, and the accuracy of the target position of the abnormal track point is improved.

Description

Technical Field

[0001] The present application relates to the field of image technology, and in particular to a method, device, equipment and storage medium for adjusting the position of an abnormal trajectory point. Background Art

[0002] High-precision map refers to a navigation map with high resolution and high element abundance, with absolute and relative accuracy at the decimeter level. It can provide accurate and detailed road information and environmental perception data, providing rich data support for route planning and driving navigation.

[0003] The production process of high-precision maps relies on the trajectory data collected by vehicles while driving on the road. However, due to factors such as the vehicle driving environment and the collection environment, some of the trajectory points in the collected trajectory data usually have certain deviations, that is, the actual location of the vehicle is inconsistent with the location of the collected trajectory points, which makes the continuity and accuracy of the collected trajectory data relatively unclear, thus affecting the accuracy of the subsequent maps produced. Summary of the invention

[0004] Based on this, it is necessary to provide a method, device, equipment and storage medium for adjusting the position of abnormal trajectory points that can improve the accuracy and continuity of trajectory points in the driving trajectory in response to the above technical problems.

[0005] In a first aspect, the present application provides a method for adjusting the position of an abnormal trajectory point, comprising:

[0006] Identify normal track points and abnormal track points that are adjacent to each other in the target driving track corresponding to the target vehicle;

[0007] Determining a vehicle travel distance between the normal trajectory point and the abnormal trajectory point;

[0008] Selecting a target driving direction from the vehicle driving directions of the normal trajectory points and the vehicle driving directions of the abnormal trajectory points;

[0009] According to the target driving direction and the vehicle driving distance, the trajectory point position of the abnormal trajectory point is adjusted to obtain the target position of the abnormal trajectory point.

[0010] In one of the embodiments, if there are two adjacent normal trajectory points to the abnormal trajectory point, the trajectory point position of the abnormal trajectory point is adjusted according to the target driving direction and the vehicle driving distance to obtain the target position of the abnormal trajectory point, including: for each of the normal trajectory points, according to the target driving direction and the corresponding vehicle driving distance under the normal trajectory point, determining the position adjustment point after the abnormal trajectory point is adjusted under the normal trajectory point; according to the position adjustment point and the trajectory point position of the abnormal trajectory point, determining the position adjustment vector for adjusting the abnormal trajectory point under the normal trajectory point; according to the position adjustment point and the trajectory point position of the abnormal trajectory point, determining the position adjustment of the trajectory point position of the abnormal trajectory point according to the position adjustment vector corresponding to each of the normal trajectory points to obtain the target position of the abnormal trajectory point.

[0011] In one of the embodiments, determining to adjust the position of the trajectory point of the abnormal trajectory point according to the position adjustment vector corresponding to each of the normal trajectory points to obtain the target position of the abnormal trajectory point includes: determining the position adjustment weight of the corresponding normal trajectory point according to the trajectory point spacing between each of the normal trajectory points and the abnormal trajectory point; wherein the position adjustment weight is inversely proportional to the trajectory point spacing; weighting the corresponding position adjustment vector according to the position adjustment weight of each of the normal trajectory points to obtain the target adjustment vector; and adjusting the trajectory point position of the abnormal trajectory point according to the target adjustment vector to obtain the target position of the abnormal trajectory point.

[0012] In one of the embodiments, determining the position adjustment weight of the corresponding normal trajectory point according to the trajectory point spacing between each of the normal trajectory points and the abnormal trajectory point includes: determining the trusted trajectory segment to which each of the normal trajectory points belongs; wherein the trusted trajectory segment includes multiple continuous trusted trajectory points; the trusted trajectory points are other normal trajectory points collected by the target vehicle; determining the position adjustment weight of the corresponding normal trajectory point according to the trajectory point spacing between the target trajectory point corresponding to each of the normal trajectory points and the abnormal trajectory point; wherein the target trajectory point corresponding to the normal trajectory point is the trusted trajectory point that is closest to the abnormal trajectory point in the trusted trajectory segment to which the normal trajectory point belongs.

[0013] In one of the embodiments, adjusting the trajectory point position of the abnormal trajectory point according to the target driving direction and the vehicle driving distance includes: determining a position offset vector according to the target driving direction and the vehicle driving distance; taking the trajectory point position of the normal trajectory point as an endpoint, and adjusting the trajectory point position of the abnormal trajectory point according to the position offset vector.

[0014] In one of the embodiments, the identifying of normal trajectory points and abnormal trajectory points that are adjacent in position in the target driving trajectory of the target vehicle includes: for any adjacent trajectory point pair in the target driving trajectory, determining a trajectory vector between a first trajectory point and a second trajectory point in the trajectory point pair; wherein the trajectory vector includes a trajectory distance and a trajectory direction; taking the driving distance and driving direction of the target vehicle from the first trajectory point to the second trajectory point; determining the trajectory point type of the first trajectory point based on the difference between the trajectory distance and the driving distance, and the difference between the trajectory direction and the driving direction; wherein the trajectory point type is a normal trajectory point or an abnormal trajectory point.

[0015] In one of the embodiments, the method further includes: obtaining the cumulative trajectory length and the cumulative number of trajectory points of continuous normal trajectory points; adjusting the normal trajectory points whose cumulative trajectory length is less than a preset length threshold, or whose cumulative number of trajectory points is less than a preset trajectory number, to abnormal trajectory points.

[0016] In a second aspect, the present application also provides a device for adjusting the position of an abnormal trajectory point, comprising:

[0017] An identification module, used to identify normal track points and abnormal track points that are adjacent to each other in the target driving track corresponding to the target vehicle;

[0018] A determination module, used to determine the vehicle travel distance between the normal trajectory point and the abnormal trajectory point;

[0019] A selection module, configured to select a target driving direction from the vehicle driving directions of the normal trajectory points and the vehicle driving directions of the abnormal trajectory points according to the road traffic direction of the road where the target driving trajectory is located;

[0020] The adjustment module is used to adjust the trajectory point position of the abnormal trajectory point according to the target driving direction and the vehicle driving distance to obtain the target position of the abnormal trajectory point.

[0021] In a third aspect, the present application further provides a computer 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:

[0022] Identify normal track points and abnormal track points that are adjacent to each other in the target driving track corresponding to the target vehicle;

[0023] Determining a vehicle travel distance between the normal trajectory point and the abnormal trajectory point;

[0024] Selecting a target driving direction from the vehicle driving directions of the normal trajectory points and the vehicle driving directions of the abnormal trajectory points;

[0025] According to the target driving direction and the vehicle driving distance, the trajectory point position of the abnormal trajectory point is adjusted to obtain the target position of the abnormal trajectory point.

[0026] 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:

[0027] Identify normal track points and abnormal track points that are adjacent to each other in the target driving track corresponding to the target vehicle;

[0028] Determining a vehicle travel distance between the normal trajectory point and the abnormal trajectory point;

[0029] Selecting a target driving direction from the vehicle driving directions of the normal trajectory points and the vehicle driving directions of the abnormal trajectory points;

[0030] According to the target driving direction and the vehicle driving distance, the trajectory point position of the abnormal trajectory point is adjusted to obtain the target position of the abnormal trajectory point.

[0031] The above-mentioned method, device, equipment and storage medium for adjusting the position of abnormal trajectory points, by identifying the normal trajectory points and abnormal trajectory points that are adjacent in position in the target driving trajectory points, and introducing the vehicle driving distance between the normal trajectory points and the abnormal trajectory points, and selecting the target driving direction from the vehicle driving direction of the normal trajectory points and the vehicle driving direction of the abnormal trajectory points, thereby adjusting the trajectory point position of the abnormal trajectory points according to the target driving direction and the vehicle driving distance, and obtaining the target position of the abnormal trajectory points. The above-mentioned technical scheme replaces the method of directly eliminating abnormal trajectory points, and ensures the continuity of the target driving trajectory. In addition, by introducing normal trajectory points adjacent to the abnormal trajectory points, the trajectory point position of the abnormal trajectory points is adjusted, which improves the fit between the position adjustment result of the abnormal trajectory points and the actual position, thereby improving the accuracy of the target position of the abnormal trajectory points. Furthermore, map generation through the target driving trajectory after the abnormal trajectory points are adjusted helps to improve the accuracy of the generated map. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] 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.

[0033] Figure 1AA schematic diagram of a flow chart of a method for adjusting the position of an abnormal trajectory point in one embodiment;

[0034] Figure 1B A comparison diagram of the target driving trajectory before and after the abnormal trajectory point is adjusted in one embodiment;

[0035] Figure 2 A schematic diagram of a flow chart of a trajectory point identification step in one embodiment;

[0036] Figure 3 A schematic diagram of a flow chart of a step of adjusting a trajectory point position of an abnormal trajectory point in an embodiment;

[0037] Figure 4 is a structural block diagram of a device for adjusting the position of an abnormal trajectory point in one embodiment;

[0038] Figure 5 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0039] 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.

[0040] In an exemplary embodiment, Figure 1A As shown, a method for adjusting the position of an abnormal trajectory point is provided. This embodiment takes the method applied to a terminal as an example. It can be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0041] S110, identifying normal trajectory points and abnormal trajectory points that are adjacent in position in the target driving trajectory corresponding to the target vehicle.

[0042] The target driving trajectory is the driving trajectory obtained by collecting trajectory points of the target vehicle in motion. It should be noted that the positional proximity here can be direct or indirect, and the number of interval trajectory points can be set according to actual needs or experience, or determined repeatedly through a large number of experiments, and this application does not impose any limitation on this.

[0043] It is worth noting that the computing device that usually performs the position adjustment of the abnormal trajectory point is different from the trajectory point collection device of the target vehicle. Therefore, the trajectory point collection device uploads the collected trajectory points. The trajectory points uploaded by the target vehicle are usually sorted in chronological order to obtain the original driving trajectory.

[0044] In an optional embodiment, the original driving trajectory may be directly used as the target driving trajectory for subsequent processing.

[0045] In another optional embodiment, the time difference between the acquisition times of two adjacent trajectory points can be compared for each trajectory point in the original driving trajectory. If the time difference is greater than a preset time difference threshold, the two trajectory points are interrupted to divide the original driving trajectory until the division is completed; the division result is used as the target driving trajectory. The preset time difference threshold can be set or adjusted by the technician according to needs or experience, or determined repeatedly through a large number of experiments, and this application does not impose any limitation on this.

[0046] Among them, a normal trajectory point can be understood as a trajectory point that can truly reflect the actual driving position of the target vehicle among all the trajectory points collected during the driving process of the target vehicle. An abnormal trajectory point can be understood as a trajectory point that cannot truly reflect the actual driving position of the target vehicle among all the trajectory points collected during the driving process of the target vehicle.

[0047] In an optional embodiment, a pre-trained abnormal recognition model can be used to perform binary classification on each trajectory point in the target driving trajectory point to obtain abnormal trajectory points whose recognition results are abnormal categories, and normal trajectory points whose recognition results are normal categories. Among them, the abnormal recognition model can be implemented using a traditional machine learning model or a deep learning model, or based on a clustering algorithm, and this application does not impose any restrictions on this. It is worth noting that this application does not impose any restrictions on the specific training method of the abnormal recognition model.

[0048] In another optional embodiment, in order to reduce the time and manpower costs invested in model training, normal trajectory points and abnormal trajectory points may be divided according to changes in trajectory points in the target driving trajectory.

[0049] S120, determining the vehicle travel distance between the normal trajectory point and the abnormal trajectory point.

[0050] For example, the average driving speed can be determined based on the driving speed of the target vehicle at the normal trajectory point and the driving speed of the target vehicle at the abnormal trajectory point; the time difference between the collection time of the normal trajectory point and the abnormal trajectory point, and the product of the average driving speed, are used as the vehicle travel distance.

[0051] S130, selecting a target driving direction from the vehicle driving directions of the normal trajectory points and the vehicle driving directions of the abnormal trajectory points.

[0052] The target driving direction may be understood as a credible driving direction selected from the vehicle driving directions of the normal trajectory points and the vehicle driving directions of the abnormal trajectory points for adjusting the positions of the abnormal trajectory points.

[0053] Optionally, the target driving direction may be selected from the vehicle driving directions of the normal trajectory points and the vehicle driving directions of the abnormal trajectory points according to the time sequence of the collection times of the normal trajectory points and the abnormal trajectory points. Specifically, the vehicle driving direction corresponding to the trajectory point with an earlier collection time may be selected from the normal trajectory points and the abnormal trajectory points as the target driving direction.

[0054] It is worth noting that since the vehicle's driving direction is related to the data collected by the angle sensor in the target vehicle, and the data collected by the angle sensor rarely drifts, the vehicle's driving direction at the normal trajectory point and the vehicle's driving direction at the abnormal trajectory point are both credible data, and the target driving direction is selected only to facilitate subsequent data calculations. Therefore, the acquisition time can be introduced to select the target driving direction from the vehicle driving directions corresponding to the normal trajectory point and the abnormal trajectory point, without paying attention to other parameters of the normal trajectory point and the abnormal trajectory point.

[0055] Since the trajectory point upload process usually corresponds to the collection time, that is, the earlier the collection time of the trajectory point, the earlier the corresponding upload order. Therefore, the vehicle driving direction corresponding to the trajectory point with an earlier upload order can be selected as the target driving direction according to the upload order of both normal trajectory points and abnormal trajectory points.

[0056] S140, adjusting the trajectory point position of the abnormal trajectory point according to the target driving direction and the vehicle driving distance to obtain the target position of the abnormal trajectory point.

[0057] It is worth noting that since the target driving direction and the vehicle driving distance are relatively reliable data during the target vehicle's driving process, the trajectory point positions of unreliable abnormal trajectory points are adjusted according to the target driving direction and the vehicle driving distance, so that the target positions corresponding to the adjusted abnormal trajectory points can better match the actual positions corresponding to the abnormal trajectory points in real space.

[0058] Exemplarily, a position offset vector may be determined according to the target driving direction and the vehicle driving distance; the trajectory point position of the normal trajectory point is taken as the endpoint, and the trajectory point position of the abnormal trajectory point is adjusted according to the position offset vector.

[0059] In a specific implementation, if the collection time of the normal trajectory point is before the collection time of the abnormal trajectory point, the trajectory point position of the normal trajectory point can be taken as the starting point, and a position offset vector can be superimposed on the trajectory point position of the normal trajectory point to offset the trajectory point position of the normal trajectory point and obtain the target position of the abnormal trajectory point; the target position of the abnormal trajectory point replaces the trajectory point position of the abnormal trajectory point, thereby adjusting the trajectory point position of the abnormal trajectory point.

[0060] In another specific implementation, if the acquisition time of the normal trajectory point is after the acquisition time of the abnormal trajectory point, the trajectory point position of the normal trajectory point can be taken as the end point, and the position offset vector can be reversely superimposed on the trajectory point position of the normal trajectory point to offset the trajectory point position of the normal trajectory point to obtain the target position of the abnormal trajectory point; the target position of the abnormal trajectory point replaces the trajectory point position of the abnormal trajectory point, thereby adjusting the trajectory point position of the abnormal trajectory point.

[0061] For example, in the target driving trajectory (A, B, C, D, E, F, G), F and G are abnormal trajectory points, and A~E are normal trajectory points. For the adjacent trajectory point pair (E, F), E is a normal trajectory point and F is an abnormal trajectory point. First, the average speed between E and F can be determined according to the driving speed of the target vehicle at points E and F; the driving time between E and F can be determined according to the difference in the acquisition time between points E and F; the target driving distance can be determined according to the product between the average speed and the driving time; the vehicle driving direction corresponding to point E (that is, the target driving direction) is used as the vector direction of the position offset vector, and the target driving distance is used as the vector length of the position offset vector to construct the position offset vector; the trajectory point position of point E is used as the starting point, and the position offset vector is superimposed to obtain the target position of point F, which replaces the trajectory point position of point F, thereby adjusting the trajectory point position of point F. Furthermore, the adjusted point F can be used as the normal trajectory point to continue to adjust the trajectory point position of the abnormal trajectory point G.

[0062] For another example, in the target driving trajectory (A, B, C, D, E, F, G), A and B are abnormal trajectory points, and C~G are normal trajectory points. For the adjacent trajectory point pair (B, C), B is an abnormal trajectory point and C is a normal trajectory point. First, the average speed between BC can be determined according to the driving speed of the target vehicle at points B and C; the driving time between BC can be determined according to the difference in the acquisition time between points B and C; the target driving distance can be determined according to the product between the average speed and the driving time; the vehicle driving direction corresponding to point B (that is, the target driving direction) is used as the vector direction of the position offset vector, and the target driving distance is used as the vector length of the position offset vector to construct the position offset vector; the trajectory point position of point C is used as the end point, and the position offset vector is reversely superimposed to obtain the target position of point B, which replaces the trajectory point position of point B, thereby realizing the adjustment of the trajectory point position of point B. Furthermore, the adjusted point B can be used as the normal trajectory point to continue to adjust the trajectory point position of the abnormal trajectory point A.

[0063] The above technical solution introduces a credible position offset vector and trusts the trajectory point position of the normal trajectory point, thereby taking the trajectory point position of the credible normal trajectory point as the basis, after position offset, the target position of the abnormal trajectory point is obtained, thereby improving the matching degree between the determination result of the target position and the real position of the abnormal trajectory point in the real space, thereby improving the accuracy of the trajectory point position adjustment result of the abnormal trajectory point. In addition, the above operation process has a small amount of data and high operation efficiency, which helps to improve the convenience and adjustment efficiency of the position adjustment process of the abnormal trajectory point.

[0064] See also Figure 1B After the abnormal trajectory points in the target driving trajectory L are adjusted by adopting the technical solution of the present application, the obtained new target driving trajectory L' is smoother and more accurate.

[0065] The embodiment of the present application identifies the normal trajectory points and abnormal trajectory points that are adjacent in position in the target driving trajectory points, introduces the vehicle driving distance between the normal trajectory points and the abnormal trajectory points, and selects the target driving direction from the vehicle driving direction of the normal trajectory points and the vehicle driving direction of the abnormal trajectory points, thereby adjusting the trajectory point positions of the abnormal trajectory points according to the target driving direction and the vehicle driving distance to obtain the target position of the abnormal trajectory points. The above technical solution replaces the method of directly eliminating abnormal trajectory points, thereby ensuring the continuity of the target driving trajectory. In addition, by introducing normal trajectory points adjacent to the abnormal trajectory point positions, the trajectory point positions of the abnormal trajectory points are adjusted, thereby improving the consistency between the position adjustment results of the abnormal trajectory points and the actual positions, thereby improving the accuracy of the target positions of the abnormal trajectory points. Furthermore, map generation based on the target driving trajectory after the abnormal trajectory points are adjusted helps to improve the accuracy of the generated map.

[0066] Based on the technical solutions of the above embodiments, the present application also provides an optional embodiment, in which the identification process of the trajectory points in S110 is refined.

[0067] See also Figure 2 The identification steps of the trajectory points shown include:

[0068] S210 , for any adjacent trajectory point pair in the target driving trajectory, determine a trajectory vector between a first trajectory point and a second trajectory point in the trajectory point pair; wherein the trajectory vector includes a trajectory distance and a trajectory direction.

[0069] The first track point may be any one of the adjacent track point pairs, and the second track point may be another track point of the adjacent track point pairs. In an optional embodiment, in order to ensure the accuracy of the final track point position adjustment result, the track points are usually aligned, and the track point with an earlier acquisition time is used as the first track point, and the track point with a later acquisition time is used as the second track point.

[0070] S220, obtaining a travel distance and a travel direction of the target vehicle from the first trajectory point to the second trajectory point.

[0071] S230, determining a trajectory point type of the first trajectory point according to a difference between the trajectory distance and the driving distance, and a difference between the trajectory direction and the driving direction; wherein the trajectory point type is a normal trajectory point or an abnormal trajectory point.

[0072] Exemplarily, the trajectory point type of the first trajectory point can be determined based on a magnitude relationship between a distance deviation between the trajectory distance and the driving distance and a preset distance threshold, and a second magnitude relationship between a direction offset between the trajectory direction and the driving direction and a preset offset.

[0073] Optionally, if the distance deviation between the track distance and the driving distance is greater than a preset distance threshold, or the direction offset between the track direction and the driving direction is greater than a preset offset, the first track point is determined to be an abnormal track point. Alternatively, if the distance deviation between the track distance and the driving distance is not greater than a preset distance threshold, and the direction offset between the track direction and the driving direction is not greater than a preset offset, the first track point is determined to be a normal track point. The preset distance threshold and the preset offset can be set or adjusted by technicians according to needs or experience, or repeatedly determined through a large number of experiments, and this application does not impose any limitation on this.

[0074] In a specific implementation, the average driving speed can be determined based on the driving speed of the target vehicle at the first trajectory point and the driving speed of the target vehicle at the second trajectory point; the driving distance can be determined based on the product of the time difference between the collection time of the first trajectory point and the second trajectory point and the average driving speed.

[0075] Specifically, the following formula can be used to determine the driving distance:

[0076] ;

[0077] ;

[0078] Among them, s is the average driving speed; A.speed is the driving speed of the first trajectory point; B.speed is the driving speed of the second trajectory point; A.timestamp is the collection time of the first trajectory point; B.timestamp is the collection time of the second trajectory point; l is the driving distance.

[0079] In a specific implementation, a first angle between a trajectory point vector constructed by a first trajectory point and a second trajectory point and a preset reference direction can be determined; and a second angle between the first trajectory point and the preset reference direction can be determined; the absolute value of the angle difference between the first angle and the second angle is determined; and the smaller value of the difference between a preset angular displacement and the absolute value of the angle difference and the absolute value of the angle difference is used as the direction offset.

[0080] Specifically, the angle offset can be determined using the following formula: ;

[0081] Wherein, △ is the angle offset, d1 is the first angle, and d2 is the second angle.

[0082] It can be understood that the above numerical comparison method can identify normal trajectory points and abnormal trajectory points, with small data calculation amount and high calculation efficiency. In addition, there is no need to collect a large amount of sample data or train complex models, thereby reducing labor costs and time costs.

[0083] It is worth noting that the density of the collected trajectory points varies greatly in different collection scenarios. For example, in the scenario of collecting trajectory points on a high-speed road section, the trajectory points are relatively sparse; in the scenario of collecting trajectory points on a low-speed road section, the trajectory points are relatively dense. Due to the different density of trajectory points, the above method may be used to identify normal trajectory points and abnormal trajectory points, which may result in the omission of abnormal trajectory points, or the determined normal trajectory points may not support the position adjustment of the adjacent abnormal trajectory points. Therefore, some normal trajectory points can be further confirmed for a second time, and the normal trajectory points that are not suitable for a trajectory point adjustment can be readjusted to abnormal trajectory points.

[0084] In an optional embodiment, the cumulative trajectory length and the cumulative number of trajectory points of continuous normal trajectory points can be further obtained; the normal trajectory points whose cumulative trajectory length is less than a preset length threshold, or whose cumulative number of trajectory points is less than a preset number of trajectory points, are adjusted to abnormal trajectory points. The preset length threshold and the preset number of trajectories can be set or adjusted by technicians according to needs or experience, or determined through a large number of experiments, and this application does not impose any restrictions on this. For example, the preset length threshold can be 20 meters, and the preset number of trajectories can be 5.

[0085] Based on the technical solutions of the above embodiments, the present application also provides an optional embodiment. In this optional embodiment, when an abnormal trajectory point includes two adjacent normal trajectory points, the trajectory point position adjustment step of the abnormal trajectory point obtained in S140 is refined.

[0086] See also Figure 3 The steps of adjusting the position of the track point of the abnormal track point shown include:

[0087] S310, for each normal trajectory point, according to the target driving direction and the corresponding vehicle driving distance at the normal trajectory point, determine a position adjustment point after the abnormal trajectory point is adjusted at the normal trajectory point.

[0088] Exemplarily, for each normal trajectory point, a position offset vector at the normal trajectory point is determined according to the target driving direction and the response vehicle driving distance at the normal trajectory point; with the trajectory point position of the normal trajectory point as an endpoint, a position adjustment point after the position adjustment of the abnormal trajectory point at the normal trajectory point is determined according to the position offset vector at the normal trajectory point.

[0089] For example, for the target driving trajectory (A, B, C, D, E, F, G, H, I, J, K, L), F and G are abnormal trajectory points, and the others are normal trajectory points. For the abnormal trajectory point F, the position adjustment point F1 of the abnormal trajectory point F under the normal trajectory point E can be determined through the normal trajectory point E in the manner of the above embodiment. For the abnormal trajectory point G, the position adjustment point G2 of the abnormal trajectory point G under the normal trajectory point H can be determined through the normal trajectory point H in the manner of the above embodiment.

[0090] Further, for the abnormal trajectory point F, the target position G' corresponding to the abnormal trajectory point G can be determined first according to the method of the above embodiment through the normal trajectory point H, and then the position adjustment point F2 of the abnormal trajectory point F under the normal trajectory point G' can be determined according to the method of the above embodiment based on the normal trajectory point G'. Alternatively, for the abnormal trajectory point F, the position adjustment point F2 of the trajectory point F under the normal trajectory point H can be determined directly by using (F, H) as the trajectory point pair according to the method of the above embodiment through the normal trajectory point H.

[0091] Further, for the abnormal trajectory point G, the target position F' corresponding to the abnormal trajectory point F can be determined first according to the method of the above embodiment through the normal trajectory point E, and then the position adjustment point G1 of the abnormal trajectory point G under the normal trajectory point F' can be determined according to the method of the above embodiment based on the normal trajectory point F'. Alternatively, the position adjustment point G1 of the trajectory point G under the normal trajectory point E can be determined directly using (E, G) as the trajectory point pair.

[0092] S320, determining a position adjustment vector for adjusting the position of the abnormal trajectory point under the normal trajectory point according to the position adjustment point and the trajectory point position of the abnormal trajectory point.

[0093] Exemplarily, for each normal trajectory point, a position adjustment vector for adjusting the position of the abnormal trajectory point is constructed according to the position adjustment point of the abnormal trajectory point under the normal trajectory point and the trajectory point position of the abnormal trajectory point.

[0094] Continuing with the previous example, for the abnormal trajectory point F, the position adjustment vectors (F, F1) and (F, F2) can be constructed with the position adjustment point F1 and the position adjustment point F2 respectively. For the abnormal trajectory point G, the position adjustment vectors (G, G1) and (G, G2) can be constructed with the position adjustment point G1 and the position adjustment point G2 respectively.

[0095] S330, determining to adjust the position of the trajectory point of the abnormal trajectory point according to the position adjustment vector corresponding to each normal trajectory point, to obtain the target position of the abnormal trajectory point.

[0096] Exemplarily, the position adjustment vectors corresponding to different normal trajectory points are directly fused to obtain a target adjustment vector; or, one of the position adjustment vectors corresponding to each normal trajectory point is directly selected as the target adjustment vector; according to the target adjustment vector, the trajectory point position of the abnormal trajectory point is adjusted to obtain the target position of the abnormal trajectory point.

[0097] Continuing with the previous example, the target adjustment vector can be determined using the following formula:

[0098] ;

[0099] Wherein, (F, F') is the target adjustment vector; (F, F1) and (F, F2) are the position adjustment vectors corresponding to the abnormal trajectory point F under the two normal trajectory points; ω1 and ω2 are the position adjustment weights corresponding to the two normal trajectory points. The two can be the same or different, and this application does not impose any limitation on this.

[0100] In an optional embodiment, the position adjustment weight of the corresponding normal trajectory point can be determined according to the trajectory point spacing between each normal trajectory point and the abnormal trajectory point; wherein the position adjustment weight is inversely proportional to the trajectory point spacing; according to the position adjustment weight of each normal trajectory point, the corresponding position adjustment vector is weighted to obtain a target adjustment vector; according to the target adjustment vector, the trajectory point position of the abnormal trajectory point is positionally adjusted to obtain a target position of the abnormal trajectory point.

[0101] Among them, the larger the track point spacing is, the smaller the position adjustment weight is, and the lower the credibility of the corresponding position adjustment vector is; the smaller the track point spacing is, the larger the position adjustment weight is, and the higher the credibility of the corresponding position adjustment vector is.

[0102] For example, a monotonically decreasing function with the track point spacing as the independent variable and the position adjustment weight as the dependent variable can be pre-constructed as the weight determination function; for each normal track point, the track point spacing between the normal track point and the abnormal track point is input into the weight determination function to obtain the position adjustment weight of the normal track point. It should be noted that the present application does not impose any restrictions on the specific presentation form of the weight determination function, and only needs to ensure that the function value of the weight determination function is between (0,1).

[0103] In order to further improve the accuracy of the position adjustment weight determination result, in a specific implementation, the trusted trajectory segment to which each normal trajectory point belongs can also be determined; the position adjustment weight of the corresponding normal trajectory point is determined according to the trajectory point distance between the target trajectory point corresponding to each normal trajectory point and the abnormal trajectory point; wherein the trusted trajectory segment includes multiple continuous trusted trajectory points; the trusted trajectory point is other normal trajectory points collected by the target vehicle, rather than the normal trajectory point obtained after position adjustment of other abnormal trajectory points; the target trajectory point corresponding to the normal trajectory point is the trusted trajectory point that is closest to the abnormal trajectory point in the trusted trajectory segment to which the normal trajectory point belongs.

[0104] Exemplarily, for each trajectory point in the target driving trajectory, each normal trajectory point and each abnormal trajectory point in the target driving trajectory can be identified; the cumulative number of trajectory points and the cumulative trajectory length of consecutive normal trajectory points are counted; based on the cumulative number of trajectory points and the cumulative trajectory length, a credible trajectory segment is determined, and the normal trajectory points that do not belong to the credible trajectory segment are adjusted to abnormal trajectory points.

[0105] Correspondingly, for the abnormal trajectory point whose position is adjusted this time, determine the credible trajectory segment to which each normal trajectory point adjacent to the abnormal trajectory point belongs; determine the trajectory point distance between the target trajectory point corresponding to each normal trajectory point and the abnormal trajectory point; for each normal trajectory point, use the proportion of the trajectory point distance corresponding to the normal trajectory point in the sum of the trajectory point distances corresponding to the two normal trajectory points as the position adjustment weight of the other normal trajectory point.

[0106] Continuing with the previous example, the following formulas can be used to determine the position adjustment weights ω1 and ω2 corresponding to different normal trajectory points:

[0107] ;

[0108] Wherein, distance( ) is the trajectory distance function, which is used to determine the trajectory distance between two input trajectory points; H, E and F are trajectory points on the target driving trajectory respectively.

[0109] It can be understood that by determining the position adjustment weight in the above manner, the determined weight can be associated with the trajectory distance between the trajectory points, and ensuring that the sum of the two position adjustment weights is 1, which helps to improve the accuracy of the final target adjustment vector, and further helps to improve the accuracy of the trajectory point position adjustment results for abnormal trajectory points.

[0110] In the embodiment of the present application, when there are two adjacent normal trajectory points to an abnormal trajectory point, for each normal trajectory point, a position adjustment point after the abnormal trajectory point is adjusted under the normal trajectory point is determined, and according to the position adjustment point and the trajectory point position of the abnormal trajectory point, a position adjustment vector for adjusting the position of the abnormal trajectory point under the corresponding normal trajectory point is determined, and the trajectory point position of the abnormal trajectory point is comprehensively adjusted in combination with the position adjustment vectors corresponding to different normal trajectory points, instead of adjusting the trajectory point of the abnormal trajectory point by relying only on one normal trajectory point, so that the reference factors for adjusting the trajectory point position of the abnormal trajectory point are more comprehensive, and the rationality and accuracy of the trajectory point position adjustment result of the abnormal trajectory point are improved.

[0111] It should be understood that, although the steps in the flowcharts involved in the above 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 is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may 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 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.

[0112] Based on the same inventive concept, the embodiment of the present application also provides a device for adjusting the position of an abnormal trajectory point for implementing the method for adjusting the position of an abnormal trajectory point 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 the device for adjusting the position of one or more abnormal trajectory points provided below can refer to the limitations of the method for adjusting the position of an abnormal trajectory point above, and will not be repeated here.

[0113] In an exemplary embodiment, Figure 4 As shown, a device for adjusting the position of an abnormal trajectory point is provided, including: an identification module 410, a determination module 420, a selection module 430 and an adjustment module 440. Among them,

[0114] An identification module 410 is used to identify normal track points and abnormal track points that are adjacent to each other in the target driving track corresponding to the target vehicle;

[0115] A determination module 420, for determining a vehicle travel distance between a normal trajectory point and an abnormal trajectory point;

[0116] A selection module 430 is used to select a target driving direction from the vehicle driving directions of normal trajectory points and the vehicle driving directions of abnormal trajectory points according to the road traffic direction of the road where the target driving trajectory is located;

[0117] The adjustment module 440 is used to adjust the trajectory point position of the abnormal trajectory point according to the target driving direction and the vehicle driving distance to obtain the target position of the abnormal trajectory point.

[0118] The embodiment of the present application identifies the normal trajectory points and abnormal trajectory points that are adjacent in position in the target driving trajectory points, introduces the vehicle driving distance between the normal trajectory points and the abnormal trajectory points, and selects the target driving direction from the vehicle driving direction of the normal trajectory points and the vehicle driving direction of the abnormal trajectory points, thereby adjusting the trajectory point positions of the abnormal trajectory points according to the target driving direction and the vehicle driving distance to obtain the target position of the abnormal trajectory points. The above technical solution replaces the method of directly eliminating abnormal trajectory points, thereby ensuring the continuity of the target driving trajectory. In addition, by introducing normal trajectory points adjacent to the abnormal trajectory point positions, the trajectory point positions of the abnormal trajectory points are adjusted, thereby improving the consistency between the position adjustment results of the abnormal trajectory points and the actual positions, thereby improving the accuracy of the target positions of the abnormal trajectory points. Furthermore, map generation based on the target driving trajectory after the abnormal trajectory points are adjusted helps to improve the accuracy of the generated map.

[0119] In one embodiment, the adjustment module 440 includes: a first determination unit, for determining, for each normal trajectory point, a position adjustment point after the abnormal trajectory point is adjusted under the normal trajectory point according to the target driving direction and the corresponding vehicle driving distance under the normal trajectory point; a second determination unit, for determining, according to the position adjustment point and the trajectory point position of the abnormal trajectory point, a position adjustment vector for adjusting the abnormal trajectory point under the normal trajectory point; and a third determination unit, for determining, according to the position adjustment vector corresponding to each normal trajectory point, to adjust the trajectory point position of the abnormal trajectory point to obtain the target position of the abnormal trajectory point.

[0120] In one of the embodiments, the third determination unit includes: a first determination subunit, used to determine the position adjustment weight of the corresponding normal trajectory point according to the trajectory point spacing between each normal trajectory point and the abnormal trajectory point; wherein the position adjustment weight is inversely proportional to the trajectory point spacing; a first obtaining unit, used to weight the corresponding position adjustment vector according to the position adjustment weight of each normal trajectory point to obtain a target adjustment vector; and a first adjustment unit, used to adjust the trajectory point position of the abnormal trajectory point according to the target adjustment vector to obtain the target position of the abnormal trajectory point.

[0121] In one of the embodiments, the first determination subunit is specifically used to determine the trusted trajectory segment to which each normal trajectory point belongs; wherein the trusted trajectory segment includes multiple continuous trusted trajectory points; the trusted trajectory points are other normal trajectory points collected by the target vehicle; according to the trajectory point distance between the target trajectory point corresponding to each normal trajectory point and the abnormal trajectory point, the position adjustment weight of the corresponding normal trajectory point is determined; wherein the target trajectory point corresponding to the normal trajectory point is the trusted trajectory point that is closest to the abnormal trajectory point in the trusted trajectory segment to which the normal trajectory point belongs.

[0122] In one embodiment, the adjustment module 440 includes: a fourth determination unit, used to determine a position offset vector according to a target driving direction and a vehicle driving distance; and a second adjustment unit, used to adjust the trajectory point position of an abnormal trajectory point according to the position offset vector with the trajectory point position of a normal trajectory point as an endpoint.

[0123] In one embodiment, the identification module 410 includes: a fifth determination unit, used to determine, for any adjacent pair of trajectory points in the target driving trajectory, a trajectory vector between a first trajectory point and a second trajectory point in the trajectory point pair; wherein the trajectory vector includes a trajectory distance and a trajectory direction; a first acquisition unit, used to acquire the driving distance and driving direction of the target vehicle from the first trajectory point to the second trajectory point; a sixth determination unit, used to determine the trajectory point type of the first trajectory point based on the difference between the trajectory distance and the driving distance, and the difference between the trajectory direction and the driving direction; wherein the trajectory point type is a normal trajectory point or an abnormal trajectory point.

[0124] In one embodiment, the identification module 410 further includes: a second acquisition unit, used to acquire the cumulative trajectory length and the cumulative number of trajectory points of continuous normal trajectory points; a third adjustment unit, used to adjust the normal trajectory points whose cumulative trajectory length is less than a preset length threshold or whose cumulative number of trajectory points is less than a preset trajectory number to abnormal trajectory points.

[0125] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 5As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a method for adjusting the position of an abnormal trajectory point is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0126] In an alternative embodiment, the computer device may be a vehicle-mounted rearview mirror.

[0127] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0128] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0129] Identify normal track points and abnormal track points that are adjacent to each other in the target driving track corresponding to the target vehicle;

[0130] Determine the vehicle travel distance between the normal trajectory point and the abnormal trajectory point;

[0131] Selecting a target driving direction from the vehicle driving directions of normal trajectory points and the vehicle driving directions of abnormal trajectory points;

[0132] According to the target driving direction and the vehicle driving distance, the trajectory point position of the abnormal trajectory point is adjusted to obtain the target position of the abnormal trajectory point.

[0133] In one embodiment, when the processor executes the computer program, the following steps are also implemented: for each normal trajectory point, according to the target driving direction and the corresponding vehicle driving distance under the normal trajectory point, a position adjustment point is determined after the abnormal trajectory point is adjusted under the normal trajectory point; according to the position adjustment point and the trajectory point position of the abnormal trajectory point, a position adjustment vector for adjusting the abnormal trajectory point under the normal trajectory point is determined; according to the position adjustment vector corresponding to each normal trajectory point, a position adjustment is determined for the trajectory point position of the abnormal trajectory point to obtain the target position of the abnormal trajectory point.

[0134] In one embodiment, when the processor executes the computer program, the following steps are also implemented: determining the position adjustment weight of the corresponding normal trajectory point according to the trajectory point spacing between each normal trajectory point and the abnormal trajectory point; wherein the position adjustment weight is inversely proportional to the trajectory point spacing; weighting the corresponding position adjustment vector according to the position adjustment weight of each normal trajectory point to obtain a target adjustment vector; and adjusting the trajectory point position of the abnormal trajectory point according to the target adjustment vector to obtain a target position of the abnormal trajectory point.

[0135] In one embodiment, when the processor executes the computer program, the following steps are also implemented: determining the trusted trajectory segment to which each normal trajectory point belongs; wherein the trusted trajectory segment includes multiple continuous trusted trajectory points; the trusted trajectory points are other normal trajectory points collected by the target vehicle; determining the position adjustment weight of the corresponding normal trajectory point according to the trajectory point distance between the target trajectory point corresponding to each normal trajectory point and the abnormal trajectory point; wherein the target trajectory point corresponding to the normal trajectory point is the trusted trajectory point that is closest to the abnormal trajectory point in the trusted trajectory segment to which the normal trajectory point belongs.

[0136] In one embodiment, when the processor executes the computer program, the following steps are also implemented: determining a position offset vector according to the target driving direction and the vehicle driving distance; taking the trajectory point position of the normal trajectory point as the endpoint, and adjusting the trajectory point position of the abnormal trajectory point according to the position offset vector.

[0137] In one embodiment, when the processor executes the computer program, the following steps are also implemented: for any adjacent trajectory point pair in the target driving trajectory, a trajectory vector between a first trajectory point and a second trajectory point in the trajectory point pair is determined; wherein the trajectory vector includes a trajectory distance and a trajectory direction; the driving distance and driving direction of the target vehicle from the first trajectory point to the second trajectory point are obtained; according to the difference between the trajectory distance and the driving distance, and the difference between the trajectory direction and the driving direction, the trajectory point type of the first trajectory point is determined; wherein the trajectory point type is a normal trajectory point or an abnormal trajectory point.

[0138] In one embodiment, when the processor executes the computer program, the following steps are also implemented: obtaining the cumulative trajectory length and the cumulative number of trajectory points of continuous normal trajectory points; adjusting the normal trajectory points whose cumulative trajectory length is less than a preset length threshold, or whose cumulative number of trajectory points is less than a preset trajectory number, to abnormal trajectory points.

[0139] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0140] Identify normal track points and abnormal track points that are adjacent to each other in the target driving track corresponding to the target vehicle;

[0141] Determine the vehicle travel distance between the normal trajectory point and the abnormal trajectory point;

[0142] Selecting a target driving direction from the vehicle driving directions of normal trajectory points and the vehicle driving directions of abnormal trajectory points;

[0143] According to the target driving direction and the vehicle driving distance, the trajectory point position of the abnormal trajectory point is adjusted to obtain the target position of the abnormal trajectory point.

[0144] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: for each normal trajectory point, according to the target driving direction and the corresponding vehicle driving distance under the normal trajectory point, a position adjustment point is determined after the abnormal trajectory point is adjusted under the normal trajectory point; according to the position adjustment point and the trajectory point position of the abnormal trajectory point, a position adjustment vector for adjusting the abnormal trajectory point under the normal trajectory point is determined; according to the position adjustment vector corresponding to each normal trajectory point, a position adjustment is determined for the trajectory point position of the abnormal trajectory point to obtain the target position of the abnormal trajectory point.

[0145] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: determining the position adjustment weight of the corresponding normal trajectory point according to the trajectory point spacing between each normal trajectory point and the abnormal trajectory point; wherein the position adjustment weight is inversely proportional to the trajectory point spacing; weighting the corresponding position adjustment vector according to the position adjustment weight of each normal trajectory point to obtain a target adjustment vector; and adjusting the trajectory point position of the abnormal trajectory point according to the target adjustment vector to obtain a target position of the abnormal trajectory point.

[0146] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: determining the trusted trajectory segment to which each normal trajectory point belongs; wherein the trusted trajectory segment includes multiple continuous trusted trajectory points; the trusted trajectory points are other normal trajectory points collected by the target vehicle; determining the position adjustment weight of the corresponding normal trajectory point according to the trajectory point distance between the target trajectory point corresponding to each normal trajectory point and the abnormal trajectory point; wherein the target trajectory point corresponding to the normal trajectory point is the trusted trajectory point that is closest to the abnormal trajectory point in the trusted trajectory segment to which the normal trajectory point belongs.

[0147] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: determining a position offset vector based on the target driving direction and the vehicle driving distance; taking the trajectory point position of the normal trajectory point as the endpoint, and adjusting the trajectory point position of the abnormal trajectory point according to the position offset vector.

[0148] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: for any adjacent pair of trajectory points in the target driving trajectory, a trajectory vector between a first trajectory point and a second trajectory point in the trajectory point pair is determined; wherein the trajectory vector includes a trajectory distance and a trajectory direction; the driving distance and driving direction of the target vehicle from the first trajectory point to the second trajectory point are obtained; based on the difference between the trajectory distance and the driving distance, and the difference between the trajectory direction and the driving direction, the trajectory point type of the first trajectory point is determined; wherein the trajectory point type is a normal trajectory point or an abnormal trajectory point.

[0149] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: obtaining the cumulative trajectory length and the cumulative number of trajectory points of continuous normal trajectory points; adjusting the normal trajectory points whose cumulative trajectory length is less than a preset length threshold, or whose cumulative number of trajectory points is less than a preset trajectory number, to abnormal trajectory points.

[0150] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0151] Identify normal track points and abnormal track points that are adjacent to each other in the target driving track corresponding to the target vehicle;

[0152] Determine the vehicle travel distance between the normal trajectory point and the abnormal trajectory point;

[0153] Selecting a target driving direction from the vehicle driving directions of normal trajectory points and the vehicle driving directions of abnormal trajectory points;

[0154] According to the target driving direction and the vehicle driving distance, the trajectory point position of the abnormal trajectory point is adjusted to obtain the target position of the abnormal trajectory point.

[0155] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: for each normal trajectory point, according to the target driving direction and the corresponding vehicle driving distance under the normal trajectory point, a position adjustment point is determined after the abnormal trajectory point is adjusted under the normal trajectory point; according to the position adjustment point and the trajectory point position of the abnormal trajectory point, a position adjustment vector for adjusting the abnormal trajectory point under the normal trajectory point is determined; according to the position adjustment vector corresponding to each normal trajectory point, a position adjustment is determined for the trajectory point position of the abnormal trajectory point to obtain the target position of the abnormal trajectory point.

[0156] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: determining the position adjustment weight of the corresponding normal trajectory point according to the trajectory point spacing between each normal trajectory point and the abnormal trajectory point; wherein the position adjustment weight is inversely proportional to the trajectory point spacing; weighting the corresponding position adjustment vector according to the position adjustment weight of each normal trajectory point to obtain a target adjustment vector; and adjusting the trajectory point position of the abnormal trajectory point according to the target adjustment vector to obtain a target position of the abnormal trajectory point.

[0157] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: determining the trusted trajectory segment to which each normal trajectory point belongs; wherein the trusted trajectory segment includes multiple continuous trusted trajectory points; the trusted trajectory points are other normal trajectory points collected by the target vehicle; determining the position adjustment weight of the corresponding normal trajectory point according to the trajectory point distance between the target trajectory point corresponding to each normal trajectory point and the abnormal trajectory point; wherein the target trajectory point corresponding to the normal trajectory point is the trusted trajectory point that is closest to the abnormal trajectory point in the trusted trajectory segment to which the normal trajectory point belongs.

[0158] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: determining a position offset vector based on the target driving direction and the vehicle driving distance; taking the trajectory point position of the normal trajectory point as the endpoint, and adjusting the trajectory point position of the abnormal trajectory point according to the position offset vector.

[0159] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: for any adjacent pair of trajectory points in the target driving trajectory, a trajectory vector between a first trajectory point and a second trajectory point in the trajectory point pair is determined; wherein the trajectory vector includes a trajectory distance and a trajectory direction; the driving distance and driving direction of the target vehicle from the first trajectory point to the second trajectory point are obtained; based on the difference between the trajectory distance and the driving distance, and the difference between the trajectory direction and the driving direction, the trajectory point type of the first trajectory point is determined; wherein the trajectory point type is a normal trajectory point or an abnormal trajectory point.

[0160] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: obtaining the cumulative trajectory length and the cumulative number of trajectory points of continuous normal trajectory points; adjusting the normal trajectory points whose cumulative trajectory length is less than a preset length threshold or whose cumulative number of trajectory points is less than a preset trajectory number to abnormal trajectory points. 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 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 need to comply with relevant regulations.

[0161] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments 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 this 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.

[0162] 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.

[0163] 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 adjusting the position of an abnormal trajectory point, characterized in that: include: Identify normal track points and abnormal track points that are adjacent to each other in the target driving track corresponding to the target vehicle; Determining a vehicle travel distance between the normal trajectory point and the abnormal trajectory point; Selecting a target driving direction from the vehicle driving directions of the normal trajectory points and the vehicle driving directions of the abnormal trajectory points; According to the target driving direction and the vehicle driving distance, the trajectory point position of the abnormal trajectory point is adjusted to obtain the target position of the abnormal trajectory point.

2. The method according to claim 1, characterized in that If there are two adjacent normal trajectory points to the abnormal trajectory point, adjusting the trajectory point position of the abnormal trajectory point according to the target driving direction and the vehicle driving distance to obtain the target position of the abnormal trajectory point includes: For each of the normal trajectory points, according to the target driving direction and the corresponding vehicle driving distance at the normal trajectory point, determining a position adjustment point after the position of the abnormal trajectory point is adjusted at the normal trajectory point; Determining a position adjustment vector for adjusting the position of the abnormal trajectory point under the normal trajectory point according to the position adjustment point and the trajectory point position of the abnormal trajectory point; According to the position adjustment vector corresponding to each of the normal trajectory points, it is determined to adjust the position of the trajectory point of the abnormal trajectory point to obtain the target position of the abnormal trajectory point.

3. The method according to claim 2, characterized in that The step of determining to adjust the position of the trajectory point of the abnormal trajectory point according to the position adjustment vector corresponding to each of the normal trajectory points to obtain the target position of the abnormal trajectory point includes: Determine the position adjustment weight of the corresponding normal trajectory point according to the trajectory point spacing between each normal trajectory point and the abnormal trajectory point; wherein the position adjustment weight is inversely proportional to the trajectory point spacing; According to the position adjustment weight of each normal trajectory point, the corresponding position adjustment vector is weighted to obtain a target adjustment vector; According to the target adjustment vector, the trajectory point position of the abnormal trajectory point is adjusted to obtain the target position of the abnormal trajectory point.

4. The method according to claim 3, characterized in that The determining, according to the trajectory point distance between each of the normal trajectory points and the abnormal trajectory point, the position adjustment weight of the corresponding normal trajectory point comprises: Determine the trusted trajectory segment to which each of the normal trajectory points belongs; wherein the trusted trajectory segment includes a plurality of continuous trusted trajectory points; the trusted trajectory points are other normal trajectory points collected by the target vehicle; Determining a position adjustment weight of a corresponding normal trajectory point according to a trajectory point distance between a target trajectory point corresponding to each normal trajectory point and the abnormal trajectory point; The target trajectory point corresponding to the normal trajectory point is a credible trajectory point that is closest to the abnormal trajectory point in the credible trajectory segment to which the normal trajectory point belongs.

5. The method according to claim 1, characterized in that The adjusting the trajectory point position of the abnormal trajectory point according to the target driving direction and the vehicle driving distance includes: Determining a position offset vector according to the target driving direction and the vehicle driving distance; Taking the trajectory point position of the normal trajectory point as an endpoint, the trajectory point position of the abnormal trajectory point is adjusted according to the position offset vector.

6. The method according to any one of claims 1 to 5, characterized in that: The identifying of normal track points and abnormal track points that are adjacent to each other in the target driving track corresponding to the target vehicle includes: For any adjacent pair of trajectory points in the target driving trajectory, determining a trajectory vector between a first trajectory point and a second trajectory point in the trajectory point pair; wherein the trajectory vector includes a trajectory distance and a trajectory direction; Acquire the travel distance and travel direction of the target vehicle from the first trajectory point to the second trajectory point; According to the difference between the trajectory distance and the driving distance, and the difference between the trajectory direction and the driving direction, the trajectory point type of the first trajectory point is determined; wherein the trajectory point type is a normal trajectory point or an abnormal trajectory point.

7. The method according to claim 6, characterized in that The method further comprises: Obtain the cumulative trajectory length and the cumulative number of trajectory points of continuous normal trajectory points; A normal trajectory point whose cumulative trajectory length is less than a preset length threshold, or whose cumulative trajectory point number is less than a preset trajectory number, is adjusted to an abnormal trajectory point.

8. A device for adjusting the position of an abnormal trajectory point, characterized in that: include: An identification module, used to identify normal track points and abnormal track points that are adjacent to each other in the target driving track corresponding to the target vehicle; A determination module, used to determine the vehicle travel distance between the normal trajectory point and the abnormal trajectory point; A selection module, configured to select a target driving direction from the vehicle driving directions of the normal trajectory points and the vehicle driving directions of the abnormal trajectory points according to the road traffic direction of the road where the target driving trajectory is located; The adjustment module is used to adjust the trajectory point position of the abnormal trajectory point according to the target driving direction and the vehicle driving distance to obtain the target position of the abnormal trajectory point.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: 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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