Method, system and equipment for repairing course angle of vehicle in turn waiting area and medium

Abstract

The embodiment of the invention relates to the technical field of automatic driving, and discloses a method, a system and equipment for repairing a course angle of a vehicle in a turn waiting area and a medium. Caching the high-precision map data to a cloud end, and obtaining real-time position data of the vehicle; according to the real-time position data of the vehicle and the high-precision map data, judging whether the vehicle is in a to-be-turned area or not; when the vehicle is in the to-be-turned area, course angle repairing is carried out according to the difference value between the course angle of the vehicle and the course angle of the to-be-turned lane: if the difference value is within a preset threshold range, the course angle of the to-be-turned lane is used as a release course; and if the difference value exceeds a preset threshold range, taking the course angle of the vehicle as a release course. By loading the high-precision map cache data, the position and the to-be-turned area of the vehicle can be more accurately judged, misjudgment and data errors are reduced, and the accuracy of data processing is improved. The technical problem that the course angle of a vehicle in a turn waiting area is not accurate can be solved at least.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a method, system, device and medium for repairing the heading angle of a vehicle in a turning area. Background Art

[0002] With the rapid development of intelligent transportation systems and autonomous driving technology, roadside perception data has become crucial in traffic management and autonomous driving decision-making. Roadside perception data is collected by various sensors on the road (such as cameras, radars, lidars, etc.) and provided to traffic management systems and autonomous driving vehicles. The accuracy and completeness of this data is crucial to optimizing traffic flow, improving road safety, and realizing autonomous driving.

[0003] At traffic intersections, especially in the waiting area, due to the large volume of traffic, complex traffic flow and interference from environmental factors, the data collected by sensors is often incomplete or erroneous. These data problems may reduce the efficiency of traffic signal control and even affect the safety and decision-making accuracy of autonomous vehicles. Especially in the waiting area, the movement trajectory of the vehicle is complex and changeable, and it is more difficult to accurately judge the vehicle's heading angle.

[0004] Most existing methods focus on local processing, which has the problems of limited computing resources, poor real-time performance and insufficient adaptability. In addition, many methods only calculate the vehicle target heading from the image perception and recognition method, fail to make full use of high-precision map data, and fail to effectively distinguish the behavior characteristics of vehicles in different road areas, especially the particularity of the area to be turned, such as the judgment and repair of vehicle heading. Summary of the invention

[0005] One purpose of the present application is to provide a method, system, device and medium for repairing the heading angle of a vehicle in a waiting area to be turned, at least to solve the technical problem of insufficient accuracy of the heading angle of the vehicle in the waiting area to be turned.

[0006] To achieve the above objectives, some embodiments of the present application provide the following aspects:

[0007] In the first aspect, some embodiments of the present application also provide a method for repairing the heading angle of a vehicle in a waiting-to-turn area, the method comprising caching high-precision map data to the cloud, and obtaining real-time position data of the vehicle; judging whether the vehicle is in the waiting-to-turn area based on the real-time position data of the vehicle and the high-precision map data; when the vehicle is in the waiting-to-turn area, repairing the heading angle based on the difference between the heading angle of the vehicle and the heading angle of the lane to be turned: if the difference is within a preset threshold range, the heading angle of the lane to be turned is used as the published heading; if the difference exceeds the preset threshold range, the heading angle of the vehicle is used as the published heading.

[0008] On the second aspect, some embodiments of the present application also provide a vehicle heading angle repair system for a waiting-to-turn area, comprising a roadside sensing device for collecting roadside sensing data; a data transmission module for transmitting the data collected by the roadside to a cloud processing platform; a cloud processing platform for storing high-precision map data and obtaining real-time vehicle position data; judging whether the vehicle is in the waiting-to-turn area based on the real-time vehicle position data and the high-precision map data; when the vehicle is in the waiting-to-turn area, repairing the heading angle based on the difference between the heading angle of the vehicle and the heading angle of the lane to be turned: if the difference is within a preset threshold range, the heading angle of the lane to be turned is used as the published heading; if the difference exceeds the preset threshold range, the heading angle of the vehicle is used as the published heading.

[0009] In a third aspect, some embodiments of the present application further provide an electronic device, comprising: one or more processors; and a memory storing computer program instructions, wherein the computer program instructions, when executed, cause the processor to perform the steps of the method described above.

[0010] In a fourth aspect, some embodiments of the present application further provide a computer-readable medium having computer program instructions stored thereon, wherein the computer program instructions can be executed by a processor to implement the method as described above.

[0011] Compared with the related art, the solution provided in the embodiment of the present application can more accurately determine the position of the vehicle and the area to be turned by loading high-precision map cache data, reduce misjudgment and data errors, and improve the accuracy of data processing. It can select the appropriate heading angle for repair according to the actual situation, avoid the problem of heading misjudgment in traditional image perception and recognition methods, and significantly improve the reliability of vehicle heading angle data in the area to be turned. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0013] Figure 1 A schematic diagram of a flow chart of a method for repairing a heading angle of a vehicle in a waiting area for turning provided according to an embodiment of the present application;

[0014] Figure 2 A schematic diagram of the architecture of a cloud processing platform provided according to an embodiment of the present application;

[0015] Figure 3 A schematic diagram of a flow chart of another method for repairing the heading angle of a vehicle in a waiting turning area provided according to an embodiment of the present application;

[0016] Figure 4 It is a structural schematic diagram of a system for repairing the heading angle of a vehicle in a waiting area for turning provided according to an embodiment of the present application;

[0017] Figure 5 The present invention is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] First embodiment

[0020] The first embodiment of the present application relates to a method for repairing the heading angle of a vehicle in a waiting area. Figure 1 As shown, the method may include the following steps:

[0021] S101, caching high-precision map data to the cloud and obtaining real-time vehicle location data;

[0022] S102, judging whether the vehicle is in a waiting area according to the real-time position data of the vehicle and the high-precision map data;

[0023] S103: When the vehicle is in the waiting-to-turn area, the heading angle is repaired according to the difference between the heading angle of the vehicle and the heading angle of the lane to be turned:

[0024] If the difference is within a preset threshold range, the heading angle of the lane to be turned is used as the published heading;

[0025] If the difference exceeds a preset threshold range, the heading angle of the vehicle is used as the published heading.

[0026] The following is a detailed description of each of the above steps.

[0027] For step S101, high-precision map data is cached in the cloud to ensure that map data can be quickly acquired in real time, eliminating the limitations of local storage. Cloud processing has powerful computing and data storage capabilities, and can achieve multi-task concurrent processing, ensuring efficient response when facing large amounts of data. Acquiring real-time location data of the vehicle and combining it with high-precision maps can help accurately locate the vehicle, especially at complex intersections and waiting areas, effectively reducing the errors caused by traditional positioning methods.

[0028] For step S102, by comparing the real-time position data of the vehicle with the waiting area in the high-precision map, it is possible to accurately determine whether the vehicle has entered the waiting area. Compared with the method that relies solely on vehicle perception data, the road area where the vehicle is located can be more accurately determined by combining high-precision map data. Due to the complex traffic environment in the waiting area, the combination of high-precision maps and real-time data can reduce misjudgments caused by environmental factors (such as occlusion, reflection, etc.) and improve the ability to recognize the waiting state.

[0029] For step S103, when the vehicle is in the waiting-to-turn area, the heading angle is repaired according to the difference between the heading angle of the vehicle and the heading angle of the lane to be turned:

[0030] When the heading angle difference is within the preset range, the heading angle of the lane to be turned is used to correct the heading angle error reported by the vehicle. This method is particularly effective in the turning area, because the actual heading of the vehicle should be basically consistent with the lane direction. The corrected heading angle can provide more reliable data for traffic management systems and autonomous driving, improving the accuracy and safety of driving decisions.

[0031] When the heading angle difference exceeds the threshold, the vehicle's reported heading angle is retained to avoid errors caused by automatic repair. In this case, the original heading angle of the vehicle can be kept from being modified by mistake in abnormal situations, reducing the risk of wrong decisions.

[0032] It is not difficult to find that compared with related technologies, the solution provided in the embodiment of the present application can make full use of cloud computing resources and high-precision map data, effectively identify vehicles in the area to be turned, and intelligently correct the heading angle error, ensuring that the traffic management system and the autonomous driving vehicle obtain accurate and reliable vehicle position and heading information. This intelligent heading repair mechanism significantly improves the accuracy of the data, reduces misjudgment, and improves overall performance and safety.

[0033] Second embodiment

[0034] The second embodiment of the present application relates to a method for repairing the heading angle of a vehicle in a waiting area. The second implementation is an improvement made on the basis of the first embodiment, and the specific improvements are:

[0035] like Figure 2 As shown in the figure, in the intersection waiting area, the movement trajectory of the vehicle is relatively complex, and the vehicle's stagnation, slow driving, and change of direction will have a certain impact on the detection accuracy of roadside perception equipment (such as cameras, radars, lidars, etc.). Especially when the traffic volume is large, external factors such as occlusion between vehicles and changes in lighting conditions may further interfere with the detection of the equipment, resulting in errors or inaccuracies in the collected vehicle heading angle data.

[0036] In order to improve the accuracy and real-time performance of data processing, the system sends the location information and heading angle data collected by the roadside sensing device to the cloud processing platform through the data transmission module. The cloud platform is capable of processing large-scale, high-concurrency data streams and can quickly analyze real-time data from multiple roadside sensing devices. This processing capability is difficult to match with traditional local devices, and is especially suitable for intersections with complex traffic flows. By integrating and analyzing the data obtained by various types of roadside sensing devices (such as cameras, radars, lidars, etc.), the vehicle's motion trajectory and heading angle can be judged more accurately.

[0037] The cloud platform not only processes the real-time transmission of roadside perception data, but also can combine it with high-precision map data. High-precision maps provide accurate lane information, road geometry, and standard heading angles of the lanes to be turned in the area to be turned, which can more accurately repair and judge the heading angle. The data of various roadside perception devices can be fused and processed through the cloud platform to improve the accuracy of the data and reduce the impact of environmental interference on a single sensor. Combined with high-precision map data, the system can identify the current road environment and lane information of the vehicle, accurately determine whether the vehicle is in the area to be turned, and further repair the heading angle error.

[0038] Deploy the Storm program in the cloud to process roadside perception data. The Storm program has high concurrency processing and real-time data processing capabilities, and can effectively cope with the real-time processing needs of a large amount of sensor data. Cache high-precision map data in the cloud to ensure the real-time availability of map data. High-precision maps contain detailed information about the road, including lane lines, intersections, waiting areas, etc. Use high-precision map data and the real-time location data of the vehicle to determine whether the vehicle is in the waiting area. Compare the vehicle's GPS position with the waiting area in the high-precision map. If the vehicle is in the waiting area, mark the vehicle as waiting.

[0039] like Figure 3 As shown, the real-time location information of the vehicle is obtained (for example, through positioning devices such as GPS), and combined with high-precision map data to determine whether the vehicle is in the intersection area. If the vehicle is not in the intersection area, the heading angle is not repaired, and the lane heading of the road section is directly used as the published heading.

[0040] If the vehicle is at the intersection, it is further determined whether the vehicle is in the waiting area. The waiting area is usually located in front of the intersection, where the vehicle is waiting to turn under the control of the traffic light. The vehicle's GPS position is compared with the waiting area in the high-precision map data to make a judgment. If the vehicle is not in the waiting area, the vehicle's uploaded heading is used as the published heading.

[0041] When the vehicle is in the waiting area, the heading angle uploaded by the vehicle is obtained and compared with the standard lane heading angle of the waiting area recorded in the high-precision map to calculate the difference in heading angle. This difference is used to determine whether the vehicle's heading angle needs to be repaired. Usually a threshold is set (for example, 60 degrees), which can be configured and adjusted according to actual traffic conditions or system requirements.

[0042] If the difference is within the threshold range: When the difference between the vehicle's current heading angle and the standard heading angle of the lane to be turned is within the preset threshold range (for example, within 60 degrees), the vehicle's heading angle has a certain deviation. At this time, the heading angle of the lane to be turned is used as the published heading.

[0043] If the difference exceeds the threshold range: When the heading angle difference exceeds the preset threshold range, the vehicle's current state is considered to be inconsistent with expectations (for example, the vehicle deviates from the normal lane or an accident occurs). At this time, the heading angle reported by the vehicle is used as the published heading to avoid misjudgment.

[0044] According to the aforementioned repair logic, the vehicle's heading angle is finally determined and published to the relevant traffic management system or autonomous driving system to ensure that the vehicle can maintain the correct driving direction in a complex traffic environment.

[0045] Roadside sensing data is collected by roadside sensing equipment. When the accuracy of the heading angle of the vehicle in the turning area in the roadside sensing data is lower than a preset accuracy standard, the heading angle of the vehicle in the turning area is repaired.

[0046] It is not difficult to find that in the embodiment of the present application, the heading angle repair method based on the characteristics of the area to be turned can select the appropriate heading angle for repair according to the actual situation, avoiding the problem of misjudgment of heading in the traditional image perception and recognition method, and significantly improving the reliability of the vehicle heading angle data in the area to be turned. The architecture adopts a modular design, and the cloud processing platform, local perception equipment and data transmission module are relatively independent, which is convenient for the expansion and upgrading of the system and can adapt to the development of future technologies and changes in demand. Using cloud computing resources can reduce the demand for local computing equipment, reduce hardware costs, and improve cost-effectiveness by expanding computing resources on demand.

[0047] The step division of the above methods is only for the purpose of clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent; adding insignificant modifications to the algorithm or process or introducing insignificant designs without changing the core design of the algorithm and process are all within the scope of protection of this patent.

[0048] Third embodiment

[0049] The third embodiment of the present application relates to a system for repairing the heading angle of a vehicle in a waiting area, such as Figure 4The shown includes: a roadside sensing device for collecting roadside sensing data;

[0050] A data transmission module, used to transmit the data collected from the roadside to a cloud processing platform;

[0051] A cloud processing platform is used to store high-precision map data and obtain real-time vehicle position data; determine whether the vehicle is in a waiting-to-turn area based on the real-time vehicle position data and the high-precision map data; when the vehicle is in the waiting-to-turn area, perform heading angle repair based on the difference between the vehicle's heading angle and the heading angle of the lane to be turned: if the difference is within a preset threshold range, use the heading angle of the lane to be turned as the published heading; if the difference exceeds the preset threshold range, use the heading angle of the vehicle as the published heading.

[0052] It is not difficult to find that this embodiment is a system embodiment corresponding to the first embodiment, and this embodiment can be implemented in conjunction with the first embodiment. The relevant technical details mentioned in the first embodiment are still valid in this embodiment, and in order to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied in the first embodiment.

[0053] It is worth mentioning that all modules involved in this embodiment are logic modules. In practical applications, a logic unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. In addition, in order to highlight the innovative part of this application, this embodiment does not introduce units that are not closely related to solving the technical problems proposed by this application, but this does not mean that there are no other units in this embodiment.

[0054] In addition, some embodiments of the present application also provide an electronic device. The electronic device may be a digital computer in various forms, such as a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, etc. The electronic device may also be a mobile device in various forms, such as a personal digital processing, a cellular phone, a smart phone, a wearable device, and other similar computing devices.

[0055] The electronic device includes: one or more processors; and a memory storing computer program instructions, wherein when the computer program instructions are executed, the processor executes the steps of the method provided in any one or more of the above embodiments. Figure 5 An exemplary structural diagram of the electronic device is disclosed. Figure 5As shown, the electronic device includes: one or more processors 1101, memory 1102, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses, and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the electronic device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some other embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple electronic devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Among them, the components shown in this article, their connections and relationships, and their functions are only used as examples, and are not intended to limit the implementation of the present application described and / or required herein.

[0056] The electronic device may further include: an input device 1103 and an output device 1104. The processor 1101, the memory 1102, the input device 1103 and the output device 1104 may be connected via a bus or other means. Figure 5 The example of connecting through bus is taken in the following.

[0057] The input device 1103 can receive input digital or character information, and generate key signal input related to the user settings and function control of the electronic device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick and other input devices. The output device 1104 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The display device may include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display and a plasma display. In some embodiments, the display device may be a touch screen.

[0058] To provide interaction with a user, the electronic device may be a computer. The computer has: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball), through which the user can provide input to the computer. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0059] In the embodiments of the present application, a computer program / instruction is stored on a computer-readable medium, and when the computer program / instruction is executed by a processor, the steps of the method provided by any one or more of the above embodiments are implemented. The computer-readable medium may be included in the electronic device described in the above embodiments; or it may exist independently without being assembled into the device. The above computer-readable medium carries one or more computer-readable instructions.

[0060] The memory 1102 can be used as a non-transient computer-readable storage medium, which can be used to store non-transient software programs, non-transient computer executable programs and modules. The processor 1101 executes various functional applications and data processing of the server by running the non-transient software programs, instructions and modules stored in the memory 1102, so as to implement the program instructions / modules corresponding to the method provided by any one or more embodiments in the embodiments of the present application.

[0061] The memory 1102 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 1102 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 1102 may optionally include a memory remotely arranged relative to the processor 1101, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0062] It should be noted that the computer-readable medium described in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device.

[0063] Computer readable media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, modules of programs or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0064] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet).

[0065] In the above-described embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. For example, it can be implemented by using an application specific integrated circuit (ASIC), a general-purpose computer or any other similar hardware device. In certain embodiments, the software program of the present application can be executed by a processor to implement the above steps or functions. Similarly, the software program of the present application (including relevant data structures) can be stored in a computer-readable recording medium, for example, a RAM memory, a magnetic or optical drive or a floppy disk and similar devices. In addition, some steps or functions of the present application can be implemented by hardware, for example, as a circuit that cooperates with a processor to perform each step or function.

[0066] The computer program product provided in the embodiment of the present application includes one or more computer programs / instructions, and when the computer program / instructions are executed by the processor, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive so lid state di sk (SSD)), etc.

[0067] The flow chart or block diagram in the accompanying drawings shows the possible architecture, function and operation of the equipment, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated system for hardware that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0068] The scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present application. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in the device claim may also be implemented by one unit or device through software or hardware. The words "first", "second", etc. are only used to distinguish the description, and do not indicate any particular order, nor can they be understood as indicating or implying relative importance.

[0069] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily mention changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims, and the above embodiments should be regarded as exemplary and non-restrictive.

Claims

1. A method for repairing the heading angle of a vehicle in a waiting area, characterized in that: The method comprises: Cache high-precision map data to the cloud and obtain real-time vehicle location data; Determining whether the vehicle is in a waiting area based on the real-time location data of the vehicle and the high-precision map data; When the vehicle is in the waiting-to-turn area, the heading angle is repaired based on the difference between the heading angle of the vehicle and the heading angle of the lane to be turned: If the difference is within a preset threshold range, the heading angle of the lane to be turned is used as the published heading; If the difference exceeds a preset threshold range, the heading angle of the vehicle is used as the published heading.

2. The method according to claim 1, characterized in that The method further comprises: Determine whether the vehicle is in the intersection area: When the vehicle is in the intersection area, determine whether the vehicle is in the waiting area; When the vehicle is not in the intersection area, the lane heading angle of the road section is used as the published heading.

3. The method according to claim 2, characterized in that The heading angle repairing comprises: Deploy Storm programs in the cloud for high-concurrency processing and real-time data analysis; The high-precision map data and the real-time position data of the vehicle are processed by the Storm program to repair the heading angle of the vehicle in the turning area.

4. The method according to claim 3, characterized in that The high-precision map data includes lane lines, intersections, turn areas, and road heading information.

5. The method according to claim 4, characterized in that The preset threshold range is within 60 degrees by default and is configured and adjusted according to actual traffic conditions or system requirements.

6. The method according to claim 5, characterized in that The determining whether the vehicle is in the area to be turned includes: comparing the GPS position of the vehicle with the area to be turned in the high-precision map data.

7. The method according to any one of claims 1 to 6, characterized in that: The method also includes: collecting roadside sensing data through roadside sensing equipment, and when the accuracy of the heading angle of the vehicle in the turning area in the roadside sensing data is lower than a preset accuracy standard, repairing the heading angle of the vehicle in the turning area.

8. A vehicle heading angle repair system in a waiting area for turning, characterized in that: The system comprises: Roadside sensing equipment, used to collect roadside sensing data; A data transmission module, used to transmit the data collected from the roadside to a cloud processing platform; A cloud processing platform is used to store high-precision map data and obtain real-time vehicle position data; determine whether the vehicle is in a waiting-to-turn area based on the real-time vehicle position data and the high-precision map data; when the vehicle is in the waiting-to-turn area, perform heading angle repair based on the difference between the vehicle's heading angle and the heading angle of the lane to be turned: if the difference is within a preset threshold range, use the heading angle of the lane to be turned as the published heading; if the difference exceeds the preset threshold range, use the heading angle of the vehicle as the published heading.

9. An electronic device, characterized in that: The electronic device comprises: one or more processors; and A memory storing computer program instructions, which, when executed, cause the processor to perform the steps of the method as claimed in any one of claims 1 to 7.

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

Images