Road curve radius calculation method and related equipment

Abstract

The invention discloses a road curve radius calculation method and related equipment, and relates to the technical field of road engineering.The road curve radius calculation method comprises the steps that a road curve with the radius to be calculated is obtained, and a first elevation angle difference value and distance between a first position point and a second position point which are adjacent in the road curve are determined; the method comprises the steps of obtaining a first elevation angle difference value, obtaining a historical elevation angle difference value, constructing an embedded matrix based on the historical elevation angle difference value and the first elevation angle difference value, carrying out noise reduction processing on the embedded matrix based on a preset observation matrix, obtaining a noise-reduced embedded matrix, obtaining a second elevation angle difference value, and determining the radius of the road curve based on the distance and the second elevation angle difference value. According to the road curve radius calculation device, the road curve radius with higher precision is obtained through the distance between the two adjacent position points on the road curve and the second elevation angle difference value obtained after noise reduction, and then the transportation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of road engineering technology, and in particular to a method for calculating a road curve radius and related equipment. Background Art

[0002] As a clean and renewable energy source, wind power generation has been widely deployed and applied around the world. Before the installation of wind power generation equipment, large wind turbine components have high requirements for road accessibility during transportation due to their large size, large volume, and heavy weight. For example, the bending radius of the road in the vertical plane (i.e., the yoz plane, and the horizontal plane is the xoy plane) directly determines whether the transport vehicle can smoothly pass uphill, downhill and other undulating roads. Therefore, how to measure the radius of the road curve becomes very important.

[0003] In the prior art, relevant staff estimate the radius of the road curve based on their work experience to determine whether the vehicle can pass smoothly. In the actual process of calculating the radius of the road curve, the staff cannot accurately measure the radius of the road curve, which leads to the need for constant adjustments according to the road conditions during transportation, resulting in low transportation efficiency.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide a road curve radius calculation method and related equipment, aiming to solve the technical problem that workers are unable to accurately measure the radius of road curves, which in turn leads to the need for constant adjustments according to road conditions during transportation and low transportation efficiency.

[0006] To achieve the above purpose, the present application proposes a method for calculating a road curve radius, the method comprising:

[0007] Acquire a road curve whose radius is to be calculated, wherein the road curve is a road curved curve perpendicular to a horizontal plane;

[0008] Determine a first position point and a second position point adjacent to each other in the road curve, and determine a first elevation angle difference between the first position point and the second position point;

[0009] Acquire historical elevation angle differences, and construct an embedding matrix based on the historical elevation angle differences and the first elevation angle differences;

[0010] Based on a preset observation matrix, a denoising process is performed on the embedding matrix to obtain a denoised embedding matrix, and based on the denoised embedding matrix, a second elevation angle difference is obtained;

[0011] The distance between the first position point and the second position point is obtained, and the radius of the road curve is determined based on the distance and the second elevation angle difference.

[0012] In one embodiment, the step of determining a first elevation angle difference between the first position point and the second position point comprises:

[0013] receiving a first elevation angle value corresponding to the first position point and a second elevation angle value corresponding to the second position point collected by a preset inertial sensor;

[0014] A difference between the first elevation angle value and the second elevation angle value is calculated to obtain a first elevation angle difference.

[0015] In one embodiment, before the step of performing denoising on the embedding matrix based on the preset observation matrix to obtain the denoised embedding matrix, the step further includes:

[0016] Acquire a plurality of sample road curves, wherein the plurality of sample road curves are a plurality of sample road curved curves perpendicular to a horizontal plane;

[0017] Based on a first sample road curve among the plurality of sample road curves, determining a plurality of groups of third elevation angle differences of adjacent position points in the first sample road curves, and constructing a plurality of groups of sample embedding matrices based on the third elevation angle differences, wherein the third elevation angle differences are obtained based on a preset inertial sensor;

[0018] Based on the multiple groups of sample embedding matrices, determine a state matrix of each group of sample embedding matrices, and based on the state matrix, determine multiple groups of observation matrices corresponding to the multiple groups of sample embedding matrices;

[0019] The average values ​​of the multiple groups of measurement matrices are calculated to obtain a preset measurement matrix.

[0020] In one embodiment, the step of determining a state matrix of each group of sample embedding matrices based on the multiple groups of sample embedding matrices, and determining multiple groups of observation matrices corresponding to the multiple groups of sample embedding matrices based on the state matrix, further includes:

[0021] Performing a truncated singular value decomposition operation on any group of matrices of the plurality of groups of sample embedding matrices to obtain a first matrix;

[0022] Select the first M rows of elements of the first matrix to construct a second matrix, and extract the last M rows of elements of the first matrix to construct a third matrix;

[0023] Determine an inverse matrix of the second matrix, perform similarity diagonalization on the inverse matrix and the third matrix, and obtain a similarity transformation matrix;

[0024] Based on a preset first matrix relationship formula, the similarity transformation matrix and the first matrix, a plurality of state matrices are obtained;

[0025] Based on the multiple groups of state matrices, multiple groups of observation matrices corresponding to the multiple groups of sample embedding matrices are determined.

[0026] In one embodiment, the step of determining, based on the multiple groups of state matrices, multiple groups of observation matrices corresponding to the multiple groups of sample embedding matrices further includes:

[0027] The multiple groups of observation matrices are determined based on a preset second matrix relationship formula, the multiple groups of state matrices and the first matrix.

[0028] In one embodiment, the step of determining the radius of the road curve based on the distance and the second elevation angle difference further includes:

[0029] Determining a road curve radius corresponding to the first position point based on the distance and the second elevation angle difference;

[0030] Based on the road curve radius corresponding to each position point in the road curve, the radius of the road curve is determined, wherein the radius of the road curve is a radius set, and based on the time sequence, the road curve radius corresponding to each position point is sequentially filled into the set to obtain the radius set.

[0031] In addition, to achieve the above purpose, the present application also proposes a road curve radius calculation device, the road curve radius calculation device comprising:

[0032] An acquisition module, the acquisition module is used to acquire a road curve whose radius is to be calculated, wherein the road curve is a road curved curve perpendicular to a horizontal plane;

[0033] a first determining module, the first determining module being used to determine a first position point and a second position point adjacent to each other in the road curve, and to determine a first elevation angle difference between the first position point and the second position point;

[0034] A construction module, the construction module is used to obtain a historical elevation angle difference, and construct an embedding matrix based on the historical elevation angle difference and the first elevation angle difference;

[0035] A denoising module, wherein the denoising module is used to perform denoising processing on the embedding matrix based on a preset observation matrix to obtain a denoised embedding matrix, and obtain a second elevation angle difference based on the denoised embedding matrix;

[0036] The second determination module is used to obtain the distance between the first position point and the second position point, and determine the radius of the road curve based on the distance and the second elevation angle difference.

[0037] In one embodiment, the first determining module includes:

[0038] a receiving unit, configured to receive a first elevation angle value corresponding to the first position point and a second elevation angle value corresponding to the second position point collected by a preset inertial sensor;

[0039] The first calculation unit is used to calculate the difference between the first elevation angle value and the second elevation angle value to obtain a first elevation angle difference.

[0040] In one embodiment, the noise reduction module includes:

[0041] A first acquisition unit is used to acquire a plurality of sample road curves, wherein the plurality of sample road curves are a plurality of sample road curved curves perpendicular to a horizontal plane;

[0042] A construction unit is used to determine, based on a first sample road curve among the plurality of sample road curves, a plurality of sets of third elevation angle differences of adjacent position points in the first sample road curves, and to construct a plurality of sets of sample embedding matrices based on the third elevation angle differences, wherein the third elevation angle difference is obtained based on a preset inertial sensor;

[0043] A first determining unit is used to determine a state matrix of each group of sample embedding matrices based on the multiple groups of sample embedding matrices, and determine multiple groups of observation matrices corresponding to the multiple groups of sample embedding matrices based on the state matrix;

[0044] The second calculation unit is used to calculate the average value of the multiple groups of observation matrices to obtain a preset observation matrix.

[0045] In one embodiment, the noise reduction module further includes:

[0046] A decomposition unit, configured to perform a truncated singular value decomposition operation on any group of matrices of the plurality of groups of sample embedding matrices to obtain a first matrix;

[0047] A selection unit, used for selecting the first M rows of elements of the first matrix to construct a second matrix, and extracting the last M rows of elements of the first matrix to construct a third matrix;

[0048] A second determining unit is used to determine an inverse matrix of the second matrix, and perform similarity diagonalization on the inverse matrix and the third matrix to obtain a similarity transformation matrix;

[0049] A second acquisition unit, configured to obtain a plurality of groups of state matrices based on a preset first matrix relationship formula, the similarity transformation matrix and the first matrix;

[0050] The third determining unit is used to determine, based on the multiple groups of state matrices, the multiple groups of observation matrices corresponding to the multiple groups of sample embedding matrices.

[0051] In one embodiment, the noise reduction module further includes:

[0052] The fourth determination unit is used to determine the multiple groups of observation matrices based on a preset second matrix relationship formula, the multiple groups of state matrices and the first matrix.

[0053] In one embodiment, the second determining module includes:

[0054] a fifth determining unit, configured to determine a road curve radius corresponding to the first position point based on the distance and the second elevation angle difference;

[0055] The sixth determination unit is used to determine the radius of the road curve based on the road curve radius corresponding to each position point in the road curve, wherein the radius of the road curve is a radius set, and based on the time sequence, the road curve radius corresponding to each position point is filled into the set in turn to obtain the radius set.

[0056] In addition, to achieve the above-mentioned purpose, the present application also proposes a road curve radius calculation device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the road curve radius calculation method as described above.

[0057] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the road curve radius calculation method described above are implemented.

[0058] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the road curve radius calculation method as described above are implemented.

[0059] One or more technical solutions proposed in this application have at least the following technical effects:

[0060] The present application proposes a method for calculating the radius of a road curve and related equipment. In related technologies, workers are unable to accurately measure the radius of a road curve, which results in the need for continuous adjustments according to road conditions during transportation, and the transportation efficiency is very low. In the present application, first, a road curve whose radius is to be calculated is obtained, and then, adjacent first and second position points in the road curve are determined, and a first elevation angle difference between the first and second position points is determined. Further, a historical elevation angle difference is obtained, and an embedding matrix is ​​constructed based on the historical elevation angle difference and the first elevation angle difference. After the matrix is ​​constructed, the embedding matrix is ​​denoised based on a preset observation matrix to obtain a denoised embedding matrix. Based on the denoised embedding matrix, a second elevation angle difference is obtained. Finally, the distance between the first and second position points is obtained, and the radius of the road curve is determined based on the distance and the second elevation angle difference.

[0061] It is understandable that in the present application, the road curve radius calculation device calculates the road curve radius between two adjacent position points on the road curve by using the distance between the two adjacent position points and the first elevation angle difference of the elevation angle values ​​corresponding to the two adjacent position points. At the same time, based on the preset observation matrix, the first elevation angle difference is subjected to noise reduction processing to obtain a second elevation angle difference with higher accuracy, further improving the accuracy of the road curve radius. As a result, based on the road curve radius with higher accuracy, the staff can directly determine the transportation plan without the need to constantly adjust according to the road conditions, thereby improving transportation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0063] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0064] Figure 1 A schematic diagram of a flow chart provided for the first embodiment of the method for calculating the radius of a road curve of the present application;

[0065] Figure 2 Schematic diagram of elevation angle values ​​provided for the road curve radius calculation method of this application;

[0066] Figure 3 A schematic diagram of a flow chart provided for the second embodiment of the method for calculating the road curve radius of the present application;

[0067] Figure 4This is a schematic diagram of the module structure of the road curve radius calculation device according to an embodiment of the present application;

[0068] Figure 5 Schematic diagram of the device structure of the hardware operating environment involved in the road curve radius calculation method in the embodiment of the present application.

[0069] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0070] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0071] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0072] The main solutions of the embodiments of this application are:

[0073] In this embodiment, for the convenience of description, the following description is made by taking the road curve radius calculation device as the execution subject.

[0074] Due to existing technology, workers are unable to accurately measure the radius of road curves, which results in the need for constant adjustments based on road conditions during transportation, resulting in very low transportation efficiency.

[0075] The present application provides a solution, first, obtaining a road curve whose radius is to be calculated, then determining a first position point and a second position point adjacent to each other in the road curve, and determining a first elevation angle difference between the first position point and the second position point, further, obtaining a historical elevation angle difference, constructing an embedding matrix based on the historical elevation angle difference and the first elevation angle difference, after the matrix is ​​constructed, performing denoising on the embedding matrix based on a preset observation matrix to obtain a denoised embedding matrix, obtaining a second elevation angle difference based on the denoised embedding matrix, and finally, obtaining a distance between the first position point and the second position point, and determining the radius of the road curve based on the distance and the second elevation angle difference.

[0076] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a road curve radius calculation device, etc. The following takes the road curve radius calculation device as an example to illustrate this embodiment and the following embodiments.

[0077] Based on this, the present application embodiment provides a method for calculating the road curve radius, referring to Figure 1 , Figure 1This is a schematic flow chart of the first embodiment of the method for calculating the road curve radius of the present application.

[0078] In this embodiment, the road curve radius calculation method includes steps S100 to S500:

[0079] Step S100, obtaining a road curve whose radius is to be calculated, wherein the road curve is a road curved curve perpendicular to a horizontal plane;

[0080] In this embodiment, the execution entity is a road curve radius calculation device, which can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, personal computer, mobile phone, etc., or an electronic device that can realize the above functions.

[0081] In this embodiment, the specific application scenario may be:

[0082] On the bank of a river, workers need to use vehicles to transport wind turbines to the other side of the river, so they need to temporarily build a road (bridge) across the river. After the road is built, the radius of the road curve needs to be measured to determine whether the road meets the requirements for truck traffic.

[0083] It should be noted that, in the present application, the radius of a road curve refers to the curve radius in the vertical direction, which is perpendicular to the horizontal plane.

[0084] In addition, it should be noted that the radius of the road curve is the turning radius of the vehicle. Furthermore, the radius of the road curve will limit the length of the passing vehicle.

[0085] For example, the radius of a road curve limits the length of a passing vehicle to a first length. When a vehicle with a second length drives onto the road, the vehicle cannot pass smoothly on uphill and downhill roads, which results in the equipment or the vehicle floor easily scratching the ground during transportation.

[0086] Step S200, determining a first position point and a second position point adjacent to each other in the road curve, and determining a first elevation angle difference between the first position point and the second position point;

[0087] It is understood that, in road engineering, determining adjacent first position points and second position points in a road curve generally refers to determining the positions of two specific points on the road curve. The two specific points are any two consecutive points on the curve. The distance between the two points can be determined by measurement technology, such as GPS measurement or traditional measurement methods.

[0088] It can be understood that the road curve is an irregular curve, and by selecting two adjacent position points, the road curve between the two adjacent position points can be regarded as a partial curve of a circular curve, and the diameters of the road curves corresponding to the two adjacent position points are approximately the same.

[0089] It should be noted that, in the present application, the road curve radius calculation device selects two adjacent position points based on time changes.

[0090] For example, a staff member drives a road radius detection vehicle (the detection vehicle is equipped with a road curve radius calculation device) through the road to be detected. Taking time t as the reference time point, the position of the road radius detection vehicle at time t-1 is selected as the first position point, and the position of the road radius detection vehicle at time t is selected as the second position point. At this time, the first position point and the second position point are two adjacent position points.

[0091] Specifically, refer to Figure 2 The step of determining the first elevation angle difference between the first position point and the second position point includes steps S110 to S120:

[0092] Step S110, receiving a first elevation angle value corresponding to the first position point and a second elevation angle value corresponding to the second position point collected by a preset inertial sensor;

[0093] It should be noted that the reference Figure 2 , point B is the first position point, point C is the second position point, and θ1 is equal to the first elevation angle value θ2 is equal to the second elevation angle value The opposite of The line segment between point D and point E is perpendicular to the horizontal plane.

[0094] Among them, combined Figure 2 , from the geometric relationship we can get:

[0095] d1=R*sinθ1

[0096] d2=R*sinθ2

[0097] d=d1+d2

[0098]

[0099] In addition, it should be noted that in the present application, the road curve radius calculation device uses a preset inertial sensor to collect θ1 and θ2. An inertial sensor is a sensor that can detect and measure information about an object's acceleration, angular velocity, and the earth's magnetic field. They are essential for determining the position, velocity, and attitude of an object. Inertial sensors can provide continuous navigation information in environments where GPS signals are unavailable or limited, making them very important in aerospace, self-driving cars, drone navigation, motion sensing functions in consumer electronic devices, and various applications that require high-precision position and attitude information.

[0100] Step S120, calculating the difference between the first elevation angle value and the second elevation angle value to obtain a first elevation angle difference.

[0101] Obtaining a first elevation angle value in a road curve radius calculation device and the second elevation value Afterwards, calculate and The difference of the sine values ​​of , we get the first elevation angle difference, that is

[0102] Step S300, obtaining historical elevation angle differences, and constructing an embedding matrix based on the historical elevation angle differences and the first elevation angle differences;

[0103] It can be understood that the staff drives the road radius detection vehicle (the detection vehicle is equipped with a road curve radius calculation device) through the road to be detected. At the first moment, the elevation angle corresponding to the position of the road radius detection vehicle is The elevation angle corresponding to the second moment is Until the tth moment, the elevation angle corresponding to the tth moment is The sine sequence of the elevation angle measurement sequence is obtained as follows: in, All are historical elevation angle differences.

[0104] Furthermore, after obtaining the sinusoidal sequence of the elevation angle value measurement sequence, embedding is performed with N as the embedding dimension to construct an embedding matrix X of the differential sequence.

[0105]

[0106] Among them, the matrix is ​​an N-dimensional embedding of the difference sequence, that is, the difference sequence is embedded in the N-dimensional space, and each column of the matrix has a dimension of N, which is a point in the N-dimensional space.

[0107] Step S400, based on a preset observation matrix, performing denoising processing on the embedding matrix to obtain a denoised embedding matrix, and based on the denoised embedding matrix, obtaining a second elevation angle difference;

[0108] It should be noted that, in this embodiment, each embedding matrix X corresponds to a measurement matrix and a state matrix, and the elements in the measurement matrix are associated with the properties of the preset inertial sensor. Therefore, for multiple embedding matrices obtained based on the same inertial sensor, each embedding matrix is ​​the same for the measurement matrix.

[0109] Among them, the values ​​collected by the inertial sensor data contain noise and cannot accurately reflect the actual elevation angle value at the current moment. Especially when the road surface is undulating, the oscillation of the pitch angle measurement value will be very large and cannot be used directly. By using the characteristic that the elements in the observation matrix are associated with the properties of the preset inertial sensor, the average value of the observation matrix corresponding to each embedded matrix is ​​calculated to obtain the preset observation matrix. Among them, the difference between the preset observation matrix and the actual observation matrix is ​​less than the difference between the calculated observation matrix and the actual observation matrix.

[0110] After obtaining the preset observation matrix, the road curve calculation device can obtain a new elevation angle difference, namely, a second elevation angle difference, wherein the error between the second elevation angle difference and the actual elevation angle difference is smaller than the error between the first elevation angle difference and the actual elevation angle difference.

[0111] Step S500: acquiring the distance between the first position point and the second position point, and determining the radius of the road curve based on the distance and the second elevation angle difference.

[0112] After the second elevation angle difference is obtained, the radius of the road curve with higher accuracy is obtained based on the second elevation angle difference with a smaller error value.

[0113] Specifically, the step of determining the radius of the road curve based on the distance and the second elevation angle difference further includes steps S510 to S520:

[0114] Step S510, determining a road curve radius corresponding to the first position point based on the distance and the second elevation angle difference;

[0115] In this embodiment, the road curve radius calculation device determines the road curve radius corresponding to the first position point based on the distance and the second elevation angle difference.

[0116] It should be noted that the road curve radii corresponding to the first position point and the second position point are approximately the same.

[0117] Step S520, based on the road curve radius corresponding to each position point in the road curve, determine the radius of the road curve, wherein the radius of the road curve is a radius set, and based on the time sequence, the road curve radius corresponding to each position point is filled into the set in sequence to obtain the radius set.

[0118] It can be understood that in this embodiment, the road curve is not a regular curve, and the radius values ​​at different positions of the road curve are different. The road curve is divided into several segments, each of which can be approximated as a circular curve, to obtain multiple radius values. A radius value sequence is constructed, and the multiple radius values ​​are sequentially filled into the radius value sequence according to the time sequence of obtaining each radius value.

[0119] The present application proposes a method for calculating the radius of a road curve and related equipment. In related technologies, workers are unable to accurately measure the radius of a road curve, which results in the need for continuous adjustments according to road conditions during transportation, and the transportation efficiency is very low. In the present application, first, a road curve whose radius is to be calculated is obtained, and then, adjacent first and second position points in the road curve are determined, and a first elevation angle difference between the first and second position points is determined. Further, a historical elevation angle difference is obtained, and an embedding matrix is ​​constructed based on the historical elevation angle difference and the first elevation angle difference. After the matrix is ​​constructed, the embedding matrix is ​​denoised based on a preset observation matrix to obtain a denoised embedding matrix. Based on the denoised embedding matrix, a second elevation angle difference is obtained. Finally, the distance between the first and second position points is obtained, and the radius of the road curve is determined based on the distance and the second elevation angle difference.

[0120] It is understandable that in the present application, the road curve radius calculation device calculates the road curve radius between two adjacent position points on the road curve by using the distance between the two adjacent position points and the first elevation angle difference of the elevation angle values ​​corresponding to the two adjacent position points. At the same time, based on the preset observation matrix, the first elevation angle difference is subjected to noise reduction processing to obtain a second elevation angle difference with higher accuracy, further improving the accuracy of the road curve radius. As a result, based on the road curve radius with higher accuracy, the staff can directly determine the transportation plan without the need to constantly adjust according to the road conditions, thereby improving transportation efficiency.

[0121] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 3 , before the step of performing denoising on the embedding matrix based on the preset observation matrix to obtain the denoised embedding matrix, it also includes steps S410 to S440:

[0122] Step S410, obtaining a plurality of sample road curves, wherein the plurality of sample road curves are a plurality of sample road curved curves perpendicular to a horizontal plane;

[0123] Based on the fact that the elements in the observation matrix are associated with properties of the preset inertial sensor, the preset estimate is calculated before actual use.

[0124] Step S420, based on a first sample road curve among the plurality of sample road curves, determining a plurality of sets of third elevation angle differences of adjacent position points in the first sample road curves, and constructing a plurality of sets of sample embedding matrices based on the third elevation angle differences, wherein the third elevation angle difference is obtained based on a preset inertial sensor;

[0125] Based on any one of the multiple sample road curves, multiple groups of sample embedding matrices are obtained using the method in the first embodiment.

[0126] Step S430, determining a state matrix of each group of sample embedding matrices based on the multiple groups of sample embedding matrices, and determining multiple groups of observation matrices corresponding to the multiple groups of sample embedding matrices based on the state matrix;

[0127] After obtaining multiple groups of sample embedding matrices, the state matrix corresponding to each sample embedding matrix is ​​determined based on each sample embedding matrix, and then the observation matrix corresponding to each sample embedding matrix is ​​obtained.

[0128] Specifically, the step of determining the state matrix of each group of sample embedding matrices based on the multiple groups of sample embedding matrices, and determining the multiple groups of observation matrices corresponding to the multiple groups of sample embedding matrices based on the state matrix, further includes steps S431 to S435:

[0129] Step S431, performing a truncated singular value decomposition operation on any group of matrices of the plurality of groups of sample embedding matrices to obtain a first matrix;

[0130] Perform truncated singular value decomposition on X The singular values ​​are taken to account for the first 90% of the sum of the singular values, and the matrix composed of the left singular vectors at this time is recorded as in, This is the first matrix.

[0131] Step S432, selecting the first M rows of elements of the first matrix to construct a second matrix, and extracting the last M rows of elements of the first matrix to construct a third matrix;

[0132] Extraction Matrix The first M rows of Extraction Matrix The last M rows of Among them, the matrix is the second matrix, the matrix is the third matrix.

[0133] Step S433, determining the inverse matrix of the second matrix, performing similarity diagonalization on the inverse matrix and the third matrix to obtain a similarity transformation matrix;

[0134] It should be noted that the inverse matrix of the second matrix is Pair Matrix Perform similarity diagonalization, set the non-main diagonal elements to 0, and obtain the similarity transformation matrix T, where refers to The MP inverse matrix.

[0135] Step S434, obtaining multiple groups of state matrices based on a preset first matrix relationship formula, the similarity transformation matrix and the first matrix;

[0136] Wherein, the preset first matrix relationship formula is:

[0137]

[0138] Among them, S is the state matrix and T is the similarity transformation matrix.

[0139] Step S435: Based on the multiple groups of state matrices, determine the multiple groups of observation matrices corresponding to the multiple groups of sample embedding matrices.

[0140] Specifically, the step of determining the multiple groups of observation matrices corresponding to the multiple groups of sample embedding matrices based on the multiple groups of state matrices further includes step A10:

[0141] Step A10, determining the multiple groups of observation matrices based on a preset second matrix relationship formula, the multiple groups of state matrices and the first matrix.

[0142] Wherein, the preset second matrix relationship formula is:

[0143] X=AS

[0144] It should be noted that X represents the embedding matrix, A represents the observation matrix, and S represents the state matrix.

[0145] Furthermore, based on the preset first matrix relationship formula, a new formula is obtained:

[0146]

[0147] Step S440, calculating the average values ​​of the multiple groups of measurement matrices to obtain a preset measurement matrix.

[0148] After obtaining multiple groups of measurement matrices, the average values ​​of the elements corresponding to each position of the multiple groups of measurement matrices are calculated, and based on the average values, an estimated value of the measurement matrix is ​​obtained, wherein the estimated value of the measurement matrix is ​​the preset measurement matrix.

[0149] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the road curve radius calculation method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0150] This application also provides a road curve radius calculation device, please refer to Figure 4 , the road curve radius calculation device comprises:

[0151] An acquisition module 10, the acquisition module is used to acquire a road curve whose radius is to be calculated, wherein the road curve is a road curved curve perpendicular to a horizontal plane;

[0152] A first determination module 20, the first determination module is used to determine a first position point and a second position point adjacent to each other in the road curve, and determine a first elevation angle difference between the first position point and the second position point;

[0153] A construction module 30, the construction module is used to obtain a historical elevation angle difference, and construct an embedding matrix based on the historical elevation angle difference and the first elevation angle difference;

[0154] A denoising module 40, configured to perform denoising processing on the embedding matrix based on a preset observation matrix to obtain a denoised embedding matrix, and obtain a second elevation angle difference based on the denoised embedding matrix;

[0155] The second determination module 50 is used to obtain the distance between the first position point and the second position point, and determine the radius of the road curve based on the distance and the second elevation angle difference.

[0156] In one embodiment, the first determining module includes:

[0157] a receiving unit, configured to receive a first elevation angle value corresponding to the first position point and a second elevation angle value corresponding to the second position point collected by a preset inertial sensor;

[0158] The first calculation unit is used to calculate the difference between the first elevation angle value and the second elevation angle value to obtain a first elevation angle difference.

[0159] In one embodiment, the noise reduction module includes:

[0160] A first acquisition unit is used to acquire a plurality of sample road curves, wherein the plurality of sample road curves are a plurality of sample road curved curves perpendicular to a horizontal plane;

[0161] A construction unit is used to determine, based on a first sample road curve among the plurality of sample road curves, a plurality of sets of third elevation angle differences of adjacent position points in the first sample road curves, and to construct a plurality of sets of sample embedding matrices based on the third elevation angle differences, wherein the third elevation angle difference is obtained based on a preset inertial sensor;

[0162] A first determining unit is used to determine a state matrix of each group of sample embedding matrices based on the multiple groups of sample embedding matrices, and determine multiple groups of observation matrices corresponding to the multiple groups of sample embedding matrices based on the state matrix;

[0163] The second calculation unit is used to calculate the average value of the multiple groups of observation matrices to obtain a preset observation matrix.

[0164] In one embodiment, the noise reduction module further includes:

[0165] A decomposition unit, configured to perform a truncated singular value decomposition operation on any group of matrices of the plurality of groups of sample embedding matrices to obtain a first matrix;

[0166] A selection unit, used for selecting the first M rows of elements of the first matrix to construct a second matrix, and extracting the last M rows of elements of the first matrix to construct a third matrix;

[0167] A second determining unit is used to determine an inverse matrix of the second matrix, and perform similarity diagonalization on the inverse matrix and the third matrix to obtain a similarity transformation matrix;

[0168] A second acquisition unit, configured to obtain a plurality of groups of state matrices based on a preset first matrix relationship formula, the similarity transformation matrix and the first matrix;

[0169] The third determining unit is used to determine, based on the multiple groups of state matrices, the multiple groups of observation matrices corresponding to the multiple groups of sample embedding matrices.

[0170] In one embodiment, the noise reduction module further includes:

[0171] The fourth determination unit is used to determine the multiple groups of observation matrices based on a preset second matrix relationship formula, the multiple groups of state matrices and the first matrix.

[0172] In one embodiment, the second determining module includes:

[0173] a fifth determining unit, configured to determine a road curve radius corresponding to the first position point based on the distance and the second elevation angle difference;

[0174] The sixth determination unit is used to determine the radius of the road curve based on the road curve radius corresponding to each position point in the road curve, wherein the radius of the road curve is a radius set, and based on the time sequence, the road curve radius corresponding to each position point is filled into the set in turn to obtain the radius set.

[0175] The road curve radius calculation device provided by the present application adopts the road curve radius calculation method in the above embodiment, which can solve the technical problem of road curve radius calculation. Compared with the prior art, the beneficial effects of the road curve radius calculation device provided by the present application are the same as the beneficial effects of the road curve radius calculation method provided by the above embodiment, and other technical features in the road curve radius calculation device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0176] The present application provides a road curve radius calculation device, which includes: at least one processor; and a memory that is communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the road curve radius calculation method in the above-mentioned embodiment one.

[0177] Reference below Figure 5 , which shows a schematic diagram of a road curve radius calculation device suitable for implementing the embodiment of the present application. The road curve radius calculation device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The road curve radius calculation device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0178] like Figure 5As shown, the road curve radius calculation device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the road curve radius calculation device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the road curve radius calculation device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a road curve radius calculation device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0179] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0180] The road curve radius calculation device provided by the present application adopts the road curve radius calculation method in the above embodiment, which can solve the technical problem of road curve radius calculation. Compared with the prior art, the beneficial effects of the road curve radius calculation device provided by the present application are the same as the beneficial effects of the road curve radius calculation method provided by the above embodiment, and other technical features in the road curve radius calculation device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0181] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0182] 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 who is familiar with the present technical field can easily think of 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.

[0183] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the road curve radius calculation method in the above-mentioned embodiment.

[0184] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, 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 this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0185] The computer-readable storage medium may be included in the road curve radius calculation device; or may exist independently without being assembled into the road curve radius calculation device.

[0186] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the road curve radius calculation device, the road curve radius calculation device:

[0187] Acquire a road curve whose radius is to be calculated, wherein the road curve is a road curved curve perpendicular to a horizontal plane;

[0188] Determine a first position point and a second position point adjacent to each other in the road curve, and determine a first elevation angle difference between the first position point and the second position point;

[0189] Acquire historical elevation angle differences, and construct an embedding matrix based on the historical elevation angle differences and the first elevation angle differences;

[0190] Based on a preset observation matrix, a denoising process is performed on the embedding matrix to obtain a denoised embedding matrix, and based on the denoised embedding matrix, a second elevation angle difference is obtained;

[0191] The distance between the first position point and the second position point is obtained, and the radius of the road curve is determined based on the distance and the second elevation angle difference.

[0192] 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" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate 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 through 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., via the Internet using an Internet service provider).

[0193] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square 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 square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square 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 square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0194] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0195] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned road curve radius calculation method, and can solve the technical problem of road curve radius calculation. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the road curve radius calculation method provided by the above-mentioned embodiment, and will not be repeated here.

[0196] The present application also provides a computer program product, including a computer program, which implements the steps of the road curve radius calculation method as described above when executed by a processor.

[0197] The computer program product provided by the present application can solve the technical problem of calculating the road curve radius. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the road curve radius calculation method provided by the above embodiment, which will not be repeated here.

[0198] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for calculating a road curve radius, characterized in that: The road curve radius calculation method comprises: Acquire a road curve whose radius is to be calculated, wherein the road curve is a road curved curve perpendicular to a horizontal plane; Determine a first position point and a second position point adjacent to each other in the road curve, and determine a first elevation angle difference between the first position point and the second position point; Acquire historical elevation angle differences, and construct an embedding matrix based on the historical elevation angle differences and the first elevation angle differences; Based on a preset observation matrix, a denoising process is performed on the embedding matrix to obtain a denoised embedding matrix, and based on the denoised embedding matrix, a second elevation angle difference is obtained; The distance between the first position point and the second position point is obtained, and the radius of the road curve is determined based on the distance and the second elevation angle difference.

2. The method for calculating the road curve radius according to claim 1, characterized in that: The step of determining a first elevation angle difference between the first position point and the second position point comprises: receiving a first elevation angle value corresponding to the first position point and a second elevation angle value corresponding to the second position point collected by a preset inertial sensor; A difference between the first elevation angle value and the second elevation angle value is calculated to obtain a first elevation angle difference.

3. The method for calculating the road curve radius according to claim 1, characterized in that: Before the step of performing denoising on the embedding matrix based on the preset observation matrix to obtain the denoised embedding matrix, the method further includes: Acquire a plurality of sample road curves, wherein the plurality of sample road curves are a plurality of sample road curved curves perpendicular to a horizontal plane; Based on a first sample road curve among the plurality of sample road curves, determining a plurality of groups of third elevation angle differences of adjacent position points in the first sample road curves, and constructing a plurality of groups of sample embedding matrices based on the third elevation angle differences, wherein the third elevation angle differences are obtained based on a preset inertial sensor; Based on the multiple groups of sample embedding matrices, determine a state matrix of each group of sample embedding matrices, and based on the state matrix, determine multiple groups of observation matrices corresponding to the multiple groups of sample embedding matrices; The average values ​​of the multiple groups of measurement matrices are calculated to obtain a preset measurement matrix.

4. The method for calculating the road curve radius according to claim 3, characterized in that: The step of determining a state matrix of each group of sample embedding matrices based on the multiple groups of sample embedding matrices, and determining multiple groups of observation matrices corresponding to the multiple groups of sample embedding matrices based on the state matrix, further includes: Performing a truncated singular value decomposition operation on any group of matrices of the plurality of groups of sample embedding matrices to obtain a first matrix; Select the first M rows of elements of the first matrix to construct a second matrix, and extract the last M rows of elements of the first matrix to construct a third matrix; Determine an inverse matrix of the second matrix, perform similarity diagonalization on the inverse matrix and the third matrix, and obtain a similarity transformation matrix; Based on a preset first matrix relationship formula, the similarity transformation matrix and the first matrix, a plurality of state matrices are obtained; Based on the multiple groups of state matrices, multiple groups of observation matrices corresponding to the multiple groups of sample embedding matrices are determined.

5. The method for calculating the road curve radius according to claim 4, characterized in that: The step of determining, based on the multiple groups of state matrices, multiple groups of observation matrices corresponding to the multiple groups of sample embedding matrices further includes: The multiple groups of observation matrices are determined based on a preset second matrix relationship formula, the multiple groups of state matrices and the first matrix.

6. The method for calculating the road curve radius according to claim 1, characterized in that: The step of determining the radius of the road curve based on the distance and the second elevation angle difference further includes: Determine a road curve radius corresponding to the first position point based on the distance and the second elevation angle difference; Based on the road curve radius corresponding to each position point in the road curve, the radius of the road curve is determined, wherein the radius of the road curve is a radius set, and based on the time sequence, the road curve radius corresponding to each position point is sequentially filled into the set to obtain the radius set.

7. A road curve radius calculation device, characterized in that: The device comprises: An acquisition module, the acquisition module is used to acquire a road curve whose radius is to be calculated, wherein the road curve is a road curved curve perpendicular to a horizontal plane; a first determining module, the first determining module being used to determine a first position point and a second position point adjacent to each other in the road curve, and to determine a first elevation angle difference between the first position point and the second position point; A construction module, the construction module is used to obtain a historical elevation angle difference, and construct an embedding matrix based on the historical elevation angle difference and the first elevation angle difference; A denoising module, wherein the denoising module is used to perform denoising processing on the embedding matrix based on a preset observation matrix to obtain a denoised embedding matrix, and obtain a second elevation angle difference based on the denoised embedding matrix; The second determination module is used to obtain the distance between the first position point and the second position point, and determine the radius of the road curve based on the distance and the second elevation angle difference.

8. A road curve radius calculation device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the method for calculating the road curve radius according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the road curve radius calculation method according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the method for calculating the road curve radius according to any one of claims 1 to 6 are implemented.

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