Method for calculating road curve radius and related equipment

Abstract

The present application discloses a method for calculating the radius of a road curve and related devices, which relates to the technical field of road engineering. The method for calculating the radius of a road curve includes: obtaining a road curve for which the radius is to be calculated, determining the first elevation angle difference and the distance between an adjacent first position point and a second position point on the road curve, obtaining a historical elevation angle difference, constructing an embedding matrix based on the historical elevation angle difference and the first elevation angle difference, performing noise reduction processing on the embedding matrix based on a preset observation matrix to obtain a noise-reduced embedding matrix, and then, obtaining a second elevation angle difference, and determining the radius of the road curve based on the distance and the second elevation angle difference. The device for calculating the radius of a road curve obtains a road curve radius with higher precision through the distance between two adjacent position points on the road curve and the second elevation angle difference obtained after noise reduction, and further improves the transportation efficiency.

Description

Technical Field

[0001] This application relates to the technical field of road engineering, and particularly to a method for calculating the radius of a road curve and related equipment. Background Art

[0002] As a clean and renewable energy source, wind power generation has been widely deployed and applied globally. Before the hoisting construction of wind power generation equipment, due to the large size, large volume, and heavy weight of large fan components, the requirements for the passability of the road during transportation are relatively high. For example, the bending radius of the road in the vertical plane (i.e., in the yoz plane, with the horizontal plane being the xoy plane) directly determines whether the transport vehicle can smoothly pass through undulating roads such as uphill and downhill sections. Therefore, how to measure the radius of the road curve becomes very important.

[0003] In the prior art, relevant staff estimated the radius of the road curve based on work experience to determine whether the vehicle could pass smoothly. In the actual calculation process of the road curve radius, the staff could not accurately measure the radius of the road curve. As a result, during transportation, it was necessary to continuously adjust according to the road conditions, and the transportation efficiency was very low.

[0004] The above content is only used to assist in understanding the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main purpose of this application is to provide a method for calculating the radius of a road curve and related equipment, aiming to solve the technical problem that the staff cannot accurately measure the radius of the road curve, resulting in continuous adjustment according to the road conditions during transportation and very low transportation efficiency.

[0006] To achieve the above object, this application proposes a method for calculating the radius of a road curve, which includes:

[0007] Obtain a road curve for which the radius is to be calculated, where the road curve is a road bending curve perpendicular to the horizontal plane direction;

[0008] Determine adjacent first and second position points on the road curve, and determine the first elevation angle difference between the first position point and the second position point;

[0009] Obtain a historical elevation angle difference, and construct an embedding matrix based on the historical elevation angle difference and the first elevation angle difference;

[0010] Based on a preset observation matrix, perform noise reduction processing on the embedding matrix to obtain a denoised embedding matrix, and obtain a second elevation angle difference based on the denoised embedding matrix;

[0011] 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.

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

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

[0014] Calculate the difference between the first elevation angle value and the second elevation angle value to obtain the first elevation angle difference.

[0015] In one embodiment, before the step of performing noise reduction processing on the embedding matrix based on a preset observation matrix to obtain a noise-reduced embedding matrix, it further includes:

[0016] Obtain multiple sample road curves, where the multiple sample road curves are multiple sample road bending curves perpendicular to the horizontal plane direction;

[0017] Based on the first sample road curve among the multiple sample road curves, determine the third elevation angle differences between adjacent position points in the multiple groups of the first sample road curves, and construct multiple groups of sample embedding matrices based on the third elevation angle differences, where the third elevation angle differences are obtained based on a preset inertial sensor;

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

[0019] Calculate the average value of the multiple groups of observation matrices to obtain a preset observation matrix.

[0020] In one embodiment, 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 further includes:

[0021] Perform a truncated singular value decomposition operation on any one group of matrices in the multiple groups of sample embedding matrices to obtain a first matrix;

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

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

[0024] Based on a preset first matrix relationship formula, the similarity transformation matrix, and the first matrix, multiple groups 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 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:

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

[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] Based on the distance and the second elevation angle difference, the road curve radius corresponding to the first position point is determined;

[0030] Based on the road curve radius corresponding to each position point in the road curve, the radius of the road curve is determined, where the radius of the road curve is a set of radii. 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.

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

[0032] An acquisition module, which is used to acquire a road curve for which the radius is to be calculated, where the road curve is a road bending curve perpendicular to the horizontal plane direction;

[0033] A first determination module, which is used to determine adjacent first and second position points in the road curve and determine the first elevation angle difference between the first position point and the second position point;

[0034] A construction module, which 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 noise reduction module, which is used to perform noise reduction processing on the embedding matrix based on a preset observation matrix to obtain a noise-reduced embedding matrix, and obtain a second elevation angle difference based on the noise-reduced embedding matrix;

[0036] A second determination module, which 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 determination 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] A first calculation unit, configured to calculate a 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, configured to acquire a plurality of sample road curves, where the plurality of sample road curves are a plurality of sample road bending curves perpendicular to the horizontal plane direction;

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

[0043] A first determination unit, configured to determine a state matrix of each group of sample embedding matrices based on the plurality of groups of sample embedding matrices, and determine a plurality of groups of observation matrices corresponding to the plurality of groups of sample embedding matrices based on the state matrix;

[0044] A second calculation unit, configured to calculate an average value of the plurality of 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 one of the plurality of groups of sample embedding matrices to obtain a first matrix;

[0047] A selection unit, configured to select the first M row elements of the first matrix to construct a second matrix, and extract the last M row elements of the first matrix to construct a third matrix;

[0048] A second determination unit, configured 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 relation formula, the similarity transformation matrix, and the first matrix;

[0050] A third determination unit, configured to determine a plurality of groups of observation matrices corresponding to the plurality of groups of sample embedding matrices based on the plurality of groups of state matrices.

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

[0052] A fourth determination unit, configured 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 determination module includes:

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

[0055] A sixth determination unit, configured to determine the radius of the road curve based on the road curve radius corresponding to each position point in the road curve, where the radius of the road curve is a set of radii, 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 set of radii.

[0056] In addition, to achieve the above object, the present application further provides a road curve radius calculation device, where the device includes: a memory, a processor, and a computer program stored on 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 object, the present application further provides a storage medium, where the storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the road curve radius calculation method as described above are implemented.

[0058] In addition, to achieve the above object, the present application further provides a computer program product, where the computer program product 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 by the present 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 devices. In the related art, staff members are unable to accurately measure the radius of a road curve. As a result, during transportation, it is necessary to continuously adjust according to the road conditions, and the transportation efficiency is very low. In the present application, first, a road curve for which the radius is to be calculated is obtained. Then, adjacent first and second position points on the road curve are determined, and a first elevation angle difference between the first position point and the second position point is determined. Further, a historical elevation angle difference is obtained. Based on the historical elevation angle difference and the first elevation angle difference, an embedding matrix is constructed. After the matrix construction is completed, based on a preset observation matrix, the embedding matrix is denoised 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 position point and the second position point is obtained, and based on the distance and the second elevation angle difference, the radius of the road curve is determined.

[0061] It can be understood that in the present application, a road curve radius calculation device calculates the radius of the road curve between two adjacent position points on the road curve through 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 a preset observation matrix, the first elevation angle difference is denoised to obtain a second elevation angle difference with higher accuracy, further improving the accuracy of the road curve radius. Furthermore, based on the road curve radius with higher accuracy, staff members can directly determine the transportation plan without continuously adjusting according to the road conditions, improving the transportation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application and used together with the specification to explain the principles of the present application.

[0063] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0064] Figure 1 It is a schematic flowchart provided for Embodiment 1 of the method for calculating the radius of a road curve in the present application;

[0065] Figure 2 It is a schematic diagram of elevation angle values provided for the method for calculating the radius of a road curve in the present application;

[0066] Figure 3 It is a schematic flowchart provided for Embodiment 2 of the method for calculating the radius of a road curve in the present application;

[0067] Figure 4Schematic diagram of the module structure of the road curve radius calculation device according to the 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 according to the embodiment of the present application.

[0069] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments

[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 solutions of the present application, the following will be described in detail with reference to the accompanying drawings of the specification and specific embodiments.

[0072] The main solution of the embodiment of the present application is:

[0073] In this embodiment, for the convenience of description, the following will be described with the road curve radius calculation device as the execution subject.

[0074] Due to the prior art, the staff cannot accurately measure the radius of the road curve. As a result, during transportation, it is necessary to continuously adjust according to the road conditions, and the transportation efficiency is very low.

[0075] The present application provides a solution. First, obtain the road curve for which the radius is to be calculated. Then, determine the adjacent first position point and second position point in the road curve, and determine the first elevation angle difference between the first position point and the second position point. Further, obtain the historical elevation angle difference. Based on the historical elevation angle difference and the first elevation angle difference, construct an embedding matrix. After the matrix construction is completed, based on a preset observation matrix, perform noise reduction processing on the embedding matrix to obtain a noise-reduced embedding matrix. Based on the noise-reduced embedding matrix, obtain the second elevation angle difference. Finally, obtain the distance between the first position point and the second position point, and based on the distance and the second elevation angle difference, determine the radius of the road curve.

[0076] It should be noted that the execution subject of this embodiment can 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, a road curve radius calculation device, etc. that can implement the above functions. The following will take the road curve radius calculation device as an example to illustrate this embodiment and the following embodiments.

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

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

[0079] Step S100, obtain the road curve whose radius is to be calculated, where the road curve is a road bending curve perpendicular to the horizontal plane direction;

[0080] In this embodiment, the execution subject 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, a personal computer, a mobile phone, etc., or an electronic device capable of implementing the above functions.

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

[0082] On the bank of a river, the staff needs to use a vehicle to transport a wind power generation device to the opposite bank of the river. Therefore, the staff needs to temporarily build a road (bridge) across the river. After the road is built, it is necessary to measure the radius of the road curve to determine whether the road meets the requirements for truck passage.

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

[0084] In addition, it should also 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 vehicles.

[0085] For example, the radius of the road curve limits the length of the passing vehicles to a first length. When a vehicle with a second length travels on this road, the vehicle cannot pass smoothly through undulating roads such as uphill and downhill. Furthermore, during the transportation process, it is easy to occur the phenomenon that the equipment rubs against the ground or the bottom plate of the vehicle rubs against the ground.

[0086] Step S200, determine the adjacent first position point and second position point on the road curve, and determine the first elevation angle difference between the first position point and the second position point;

[0087] It can be understood that in road engineering, determining the adjacent first position point and second position point on the road curve usually means determining the positions of two specific points on the road curve. These two specific points are any two consecutive points on the curve. The positions of the distance between these two points can be determined by measurement techniques, such as through 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, θ 1 Equal to the first elevation value θ 2 Equal to the second elevation 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] d 1 =R*sinθ 1

[0096] d 2 =R*sinθ 2

[0097] d=d 1 +d 2

[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 θ 1With θ 2 An inertial sensor is a sensor that can detect and measure information such as the acceleration, angular velocity, and Earth's magnetic field of an object. They are crucial 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 restricted, making them very important in aerospace, autonomous vehicles, drone navigation, motion sensing functions in consumer electronic devices, and various applications that require high-precision position and attitude information.

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

[0101] After the road curve radius calculation device obtains the first elevation angle value and the second elevation angle value calculate the difference from the sine value of to obtain a first elevation angle difference, that is

[0102] Step S300, obtain historical elevation angle differences, and construct an embedding matrix based on the historical elevation angle differences and the first elevation angle difference;

[0103] It can be understood that the staff drives a 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 value corresponding to the position of the road radius detection vehicle is the elevation angle value corresponding to the second moment is until the t-th moment, the elevation angle value corresponding to the t-th moment is A sine sequence of an elevation angle value measurement sequence is obtained as: where are all historical elevation angle differences.

[0104] Furthermore, after obtaining the sine sequence of the elevation angle value measurement sequence, with N as the embedding dimension, perform embedding to construct an embedding matrix X of the difference sequence.

[0105]

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

[0107] Step S400, based on a preset observation matrix, perform noise reduction processing on the embedding matrix to obtain a noise-reduced embedding matrix, and based on the noise-reduced embedding matrix, obtain a second elevation angle difference;

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

[0109] Among them, the values collected by the inertial sensor contain noise and cannot accurately reflect the actual elevation angle value at the current moment. Especially when the undulation of the road surface is relatively large, the oscillation of the pitch angle measurement value will be very large and cannot be directly used. By virtue of the feature that the elements in the observation matrix are associated with the attributes of the preset inertial sensor, the average value of the observation matrix corresponding to each embedding matrix is calculated to obtain the preset observation matrix. Among them, the difference between the preset observation matrix and the actual observation matrix is smaller 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, that is, the second elevation angle difference, where 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, obtain the distance between the first position point and the second position point, and based on the distance and the second elevation angle difference, determine the radius of the road curve.

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

[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, based on the distance and the second elevation angle difference, determine the road curve radius corresponding to the first position point;

[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, where the radius of the road curve is a set of radii. Based on the time sequence, the road curve radii corresponding to each position point are 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, so the radius values at different positions of the road curve are not the same. The road curve is divided into several sections of curves, and each section of curve can be approximated as a circular curve to obtain multiple radius values. A radius value sequence is constructed, and the multiple radius values are filled into the radius value sequence in the time order of obtaining each radius value.

[0119] This application proposes a method for calculating the radius of a road curve and related devices. In the related art, the staff cannot accurately measure the radius of the road curve. As a result, during transportation, it is necessary to continuously adjust according to the road conditions, and the transportation efficiency is very low. In this application, first, a road curve for which the radius is to be calculated is obtained. Then, the adjacent first position point and second position point on the road curve are determined, and the first elevation angle difference between the first position point and the second position point is determined. Further, a historical elevation angle difference is obtained. Based on the historical elevation angle difference and the first elevation angle difference, an embedding matrix is constructed. After the matrix construction is completed, based on a preset observation matrix, the embedding matrix is denoised 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 position point and the second position point is obtained, and based on the distance and the second elevation angle difference, the radius of the road curve is determined.

[0120] It can be understood that in this application, the road curve radius calculation device calculates the radius of the road curve between two adjacent position points on the road curve through 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 a preset observation matrix, the first elevation angle difference is denoised to obtain a second elevation angle difference with higher accuracy, further improving the accuracy of the road curve radius. Furthermore, based on the road curve radius with higher accuracy, the staff can directly determine the transportation plan without continuously adjusting according to the road conditions, improving the transportation efficiency.

[0121] Based on the first embodiment of this application, in the second embodiment of this application, the same or similar content as in the above-mentioned first embodiment can be referred to the above introduction and will not be repeated hereinafter. On this basis, please refer to Figure 3 , before the step of denoising the embedding matrix based on a preset observation matrix to obtain a denoised embedding matrix, steps S410 to S440 are further included:

[0122] Step S410, obtain multiple sample road curves, where the multiple sample road curves are multiple sample road bending curves perpendicular to the horizontal plane direction;

[0123] Based on the feature that the elements in the observation matrix are associated with the attributes of the preset inertial sensor, a preset estimated value is calculated before actual use.

[0124] Step S420: Based on the first sample road curve among multiple sample road curves, determine the third elevation angle differences between adjacent position points in multiple groups of the first sample road curves, and construct multiple groups of sample embedding matrices based on the third elevation angle differences, where the third elevation angle differences are obtained based on a preset inertial sensor.

[0125] Based on any one of the multiple sample road curves, use the method in the first embodiment to obtain multiple groups of sample embedding matrices.

[0126] Step S430: Based on the multiple groups of sample embedding matrices, determine the state matrix of each group of sample embedding matrices, and based on the state matrix, determine the multiple groups of observation matrices corresponding to the multiple groups of sample embedding matrices.

[0127] After obtaining multiple groups of sample embedding matrices, based on each sample embedding matrix, determine the state matrix corresponding to each sample embedding matrix, and further, obtain the observation matrix corresponding to each sample embedding matrix.

[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: Perform a truncated singular value decomposition operation on any one of the multiple groups of sample embedding matrices to obtain a first matrix.

[0130] Perform a truncated singular value decomposition on X where the singular values take the first 90% of the sum of the singular values, and the matrix formed by the left singular vectors at this time is denoted as where is the first matrix.

[0131] Step S432: 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.

[0132] Extract the first M rows of the matrix to construct the matrix Extract the last M rows of the matrix to construct the matrix where the matrix is the second matrix, and the matrix is the third matrix.

[0133] Step S433: Determine the inverse matrix of the second matrix, perform similar 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 For the matrix perform similar diagonalization to make the non - diagonal elements zero, and obtain a similarity transformation matrix T, where refers to the Moore - Penrose inverse matrix of

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

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

[0137]

[0138] where S is the state matrix and T is the similarity transformation matrix.

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

[0140] Specifically, the step of determining 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: Based on a preset second matrix relationship formula, the multiple groups of state matrices, and the first matrix, determine the multiple groups of observation matrices.

[0142] Among them, 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: Calculate the average value of the multiple groups of observation matrices to obtain a preset observation matrix.

[0148] After obtaining the multiple groups of observation matrices, calculate the average value of the elements corresponding to each position of the multiple groups of observation matrices, and based on the average value, obtain an estimated value of the observation matrix. Among them, the estimated value of the observation matrix is the preset observation matrix.

[0149] It should be noted that the above examples are only for understanding the present application and do not limit the method for calculating the road curve radius of the present application. Based on this technical concept, more simple transformations in various forms are within the protection scope of the present application.

[0150] The present application also provides a device for calculating the road curve radius. Please refer to Figure 4 The device for calculating the road curve radius includes:

[0151] An acquisition module 10, which is used to acquire a road curve for which the radius is to be calculated, where the road curve is a road bending curve perpendicular to the horizontal plane direction;

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

[0153] A construction module 30, which is used to acquire 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 noise reduction module 40, which is used to perform noise reduction processing on the embedding matrix based on a preset observation matrix to obtain a noise-reduced embedding matrix, and acquire a second elevation angle difference based on the noise-reduced embedding matrix;

[0155] A second determination module 50, which is used to acquire 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 determination module includes:

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

[0158] A first calculation unit, which 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, which is used to acquire multiple sample road curves, where the multiple sample road curves are multiple sample road bending curves perpendicular to the horizontal plane direction;

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

[0162] A first determination unit, configured to determine, based on the plurality of groups of sample embedding matrices, a state matrix of each group of sample embedding matrices, and determine a plurality of groups of observation matrices corresponding to the plurality of groups of sample embedding matrices based on the state matrix;

[0163] A second calculation unit, configured to calculate an average value of the plurality of groups of observation matrices to obtain a preset observation matrix.

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

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

[0166] A selection unit, configured to select the first M row elements of the first matrix to construct a second matrix, and extract the last M row elements of the first matrix to construct a third matrix;

[0167] A second determination unit, configured to determine an inverse matrix of the second matrix, 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] A third determination unit, configured to determine a plurality of groups of observation matrices corresponding to the plurality of groups of sample embedding matrices based on the plurality of groups of state matrices.

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

[0171] A fourth determination unit, configured to determine the plurality of groups of observation matrices based on a preset second matrix relationship formula, the plurality of groups of state matrices, and the first matrix.

[0172] In an embodiment, the second determination module includes:

[0173] A fifth determination 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] A sixth determination unit, configured to determine the radius of the road curve based on the road curve radius corresponding to each position point in the road curve, where the radius of the road curve is a set of radii, and based on the time sequence, the road curve radii corresponding to each position point are filled into the set in sequence to obtain the set of radii.

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

[0176] This application provides a road curve radius calculation device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable 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 first embodiment above.

[0177] Next, refer to Figure 5 , which shows a schematic structural diagram of a road curve radius calculation device suitable for implementing the embodiments of this application. The road curve radius calculation device in the embodiments of this 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 impose any limitation on the functions and usage scope of the embodiments of this application.

[0178] As Figure 5As shown, the road curve radius calculation device may include a processing device 1001 (such as a central processing unit, a graphics processing unit, 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 into a random access memory (RAM: Random Access Memory) 1004. In the RAM 1004, various programs and data required for the operation of the road curve radius calculation device are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 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 touchpad, 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 wiredly to exchange data. Although the figure shows a road curve radius calculation device having various systems, it should be understood that it is not required to implement or have all the shown systems. More or fewer systems can be alternatively implemented or had.

[0179] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. 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 contains program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network through the communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above functions defined in the methods of the embodiments 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 and can solve the technical problem of calculating the road curve radius. Compared with the prior art, the beneficial effects of the road curve radius calculation device provided by the present application are the same as those 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 elaborated here.

[0181] It should be understood that each part 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 a suitable manner in any one or more embodiments or examples.

[0182] As described above, the above are only specific embodiments of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed in this application can easily think of changes or substitutions, which should all be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

[0183] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the road curve radius calculation method in the above embodiments.

[0184] The computer-readable storage medium provided by this application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or combined with an instruction execution system, device, or device. The program code contained on the computer-readable storage medium can be transmitted by any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0185] The above computer-readable storage medium can be included in the road curve radius calculation device; it can also exist separately without being assembled into the road curve radius calculation device.

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

[0187] Obtain a road curve for which the radius is to be calculated, where the road curve is a road bending curve perpendicular to the horizontal plane direction;

[0188] Determine adjacent first and second position points on the road curve, and determine the first elevation angle difference between the first position point and the second position point;

[0189] Obtain a historical elevation angle difference, and construct an embedding matrix based on the historical elevation angle difference and the first elevation angle difference;

[0190] Based on a preset observation matrix, perform noise reduction processing on the embedding matrix to obtain a noise-reduced embedding matrix, and based on the noise-reduced embedding matrix, obtain a second elevation angle difference;

[0191] 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.

[0192] Computer program code for performing the operations of the present application can be written in one or more programming languages or combinations thereof. The above-mentioned programming languages include object-oriented programming languages - such as Java, Smalltalk, C++, and also include conventional procedural programming languages - such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed 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 can be connected to the user's computer through any type of network - including a local area network (LAN: Local Area Network) or a wide area network (WAN: Wide Area Network), or can be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0193] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a portion of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0194] The modules described in the embodiments of the present application can be implemented in software or in hardware. In some cases, the name of the module does not constitute a limitation on the unit itself.

[0195] The readable storage medium provided by the present application is a computer-readable storage medium that 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 those of the road curve radius calculation method provided by the above embodiments, and will not be elaborated here.

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

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

[0198] The above are only some embodiments of the present application, and thus do not limit the patent scope of the present application. Any equivalent structural transformation made under the technical concept of the present application by using the content of the specification and drawings of the present application, or any direct / indirect application in other related technical fields, is 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 groups 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: Determining 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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