Vehicle deviation detection method, device, equipment and storage medium

Abstract

The present application relates to the field of vehicle control technology, and discloses a vehicle yaw detection method, device, equipment and storage medium, including: determining the path direction according to the vehicle position and the pre-planned path; obtaining the current driving direction of the vehicle; determining the deviation angle according to the driving direction and the path direction; and determining whether the vehicle has yawed based on the deviation angle. Since the vehicle is not directly judged by distance, but by the deviation angle between the path direction and the driving direction, it is ensured that even if the moving distance is short, it is possible to quickly confirm whether the vehicle has yawed through the deviation angle, thereby quickly performing yaw detection, reducing the hysteresis of judging the vehicle yaw, improving the actual use effect of the vehicle navigation, and improving the actual use experience of the user.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle yaw detection method, device, equipment and storage medium. Background Art

[0002] Nowadays, vehicles are basically driven by in-vehicle navigation. When the user deviates from the navigation route, the deviation recalculation logic will be triggered to re-plan the navigation route according to the vehicle's position. The current judgment logic of in-vehicle navigation is that the vehicle will be judged as deviated and the deviation recalculation logic will be triggered only when the vehicle deviates from the navigation route by a certain distance (such as more than 60 meters).

[0003] However, there is a certain lag in route replanning when judging deviation in this way, and the actual use effect is not good. For example, the user actively makes a U-turn or other operations, which causes deviation, and drives a short distance, but the driving distance does not reach the judgment distance for route recalculation. In this case, the guidance information of the old navigation route will still be broadcast. At this time, the guidance information is actually inconsistent with the user's actual intention. The user needs to continue driving the vehicle until the driving distance exceeds the judgment distance, and the on-board navigation will re-plan the navigation route. Summary of the invention

[0004] The main purpose of this application is to provide a vehicle deviation detection method, device, equipment and storage medium, aiming to solve the technical problem that the related technology vehicle navigation has a lag in judging vehicle deviation and the actual use effect is poor.

[0005] To achieve the above objectives, the present application proposes a vehicle deviation detection method, the method comprising:

[0006] Determine the path direction based on the vehicle position and pre-planned path;

[0007] Get the current driving direction of the vehicle;

[0008] determining a deviation angle according to the driving direction and the path direction;

[0009] It is determined whether the vehicle is yawed based on the deviation angle.

[0010] Optionally, determining whether the vehicle yaws based on the deviation angle includes:

[0011] Get the normal angle range;

[0012] Detecting whether the deviation angle is within the normal angle range;

[0013] If the deviation angle exceeds the normal angle range, it is determined that the vehicle has yawed.

[0014] Optionally, obtaining the normal angle range includes:

[0015] Obtaining lane line information of the road section where the vehicle is currently located;

[0016] Determining whether there are multiple available lanes according to the lane line information;

[0017] If there are not multiple available lanes, a normal angle range is constructed according to the first preset angle threshold.

[0018] Optionally, after determining whether there are multiple available lanes according to the lane line information, the method further includes:

[0019] If there are multiple available lanes, obtain the number of available lanes and the lane the vehicle is in;

[0020] Determining a lane change direction according to the number of available lanes and the lane in which the vehicle is located;

[0021] Based on the variable lane direction, a normal angle range is constructed according to a first preset angle threshold and / or a second preset angle threshold, wherein the first preset angle threshold is greater than the second preset angle threshold.

[0022] Optionally, the detecting whether the deviation angle is within the normal angle range includes:

[0023] If the deviation angle is within the normal angle range, determining the shortest distance of the vehicle position relative to the pre-planned path, the shortest distance being the minimum value of the distance values ​​of the vehicle position relative to the pre-planned path;

[0024] If the shortest distance is greater than a preset distance threshold, it is determined that the vehicle has deviated.

[0025] Optionally, determining the path direction according to the vehicle position and the pre-planned path includes:

[0026] Determining an untraversed path in the pre-planned path based on the vehicle position;

[0027] Determine a reference coordinate according to the vehicle position and a preset distance;

[0028] Detecting whether the reference coordinate is in the untraveled path;

[0029] If the reference coordinate is in the path not passed through, taking the reference coordinate as the reference position;

[0030] A path direction is determined based on the vehicle position and the reference position.

[0031] Optionally, after detecting whether the reference coordinate is in the path not passed, the method further includes:

[0032] If the reference coordinate is not in the untraveled path, obtaining a correction coefficient;

[0033] Correcting the preset distance according to the correction coefficient to generate a corrected distance value;

[0034] The corrected distance value is used as a new preset distance, and the process returns to the step of determining the reference coordinates according to the vehicle position and the preset distance.

[0035] In addition, to achieve the above-mentioned purpose, the present application also provides a vehicle deviation detection device, the device comprising:

[0036] A determination module, used to determine the path direction according to the vehicle position and the pre-planned path;

[0037] An acquisition module is used to obtain the current driving direction of the vehicle;

[0038] A calculation module, used to determine a deviation angle according to the driving direction and the path direction;

[0039] A determination module is used to determine whether the vehicle has yawed based on the deviation angle.

[0040] In addition, to achieve the above-mentioned purpose, the present application also provides a vehicle yaw detection device, which includes: 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 vehicle yaw detection method as described above.

[0041] In addition, to achieve the above-mentioned purpose, the present application also provides 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 vehicle deviation detection method as described above are implemented.

[0042] 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 vehicle deviation detection method described above are implemented.

[0043] One or more technical solutions proposed in this application have at least the following technical effects:

[0044] Since the vehicle does not directly judge whether it has deviated by distance, but determines whether it has deviated by the deviation angle between the path direction and the driving direction, it ensures that even if the moving distance is short, it can quickly confirm whether the vehicle has deviated by the deviation angle, thereby quickly performing yaw detection, reducing the lag in judging vehicle yaw, improving the actual use effect of the in-vehicle navigation, and improving the actual user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] 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.

[0046] 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.

[0047] Figure 1 A schematic diagram of a process flow provided for the first embodiment of the vehicle deviation detection method of the present application;

[0048] Figure 2 A schematic diagram of deviation angle calculation according to an embodiment of the present application;

[0049] Figure 3 A schematic diagram of a yaw determination scenario according to an embodiment of the present application;

[0050] Figure 4 A schematic diagram of a flow chart provided for the second embodiment of the vehicle deviation detection method of the present application;

[0051] Figure 5 This is a schematic diagram of the module structure of a vehicle deviation detection device according to an embodiment of the present application;

[0052] Figure 6 Schematic diagram of the device structure of the hardware operating environment involved in the vehicle yaw detection method in the embodiment of the present application.

[0053] 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

[0054] 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.

[0055] 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.

[0056] Based on this, the present application embodiment provides a vehicle deviation detection method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the vehicle deviation detection method of the present application.

[0057] In this embodiment, the vehicle deviation detection method includes steps S10 to S40:

[0058] Step S10: Determine the path direction according to the vehicle position and the pre-planned path.

[0059] It should be noted that the execution subject of this embodiment can be the vehicle itself, or a vehicle deviation detection device set in the vehicle. The vehicle deviation detection device can be a controller that can obtain information from various sensors in the vehicle and control the navigation software in the vehicle, such as an ECU controller, or other devices that can achieve the same or similar functions. This embodiment does not limit this. In this embodiment and the following embodiments, the vehicle deviation detection method of this application is described by taking a vehicle as an example.

[0060] It should be noted that the pre-planned path may be a driving route previously planned by the vehicle navigation system based on the starting point and the end point input by the user. The vehicle position may be the current location of the vehicle, which may be determined by a positioning device in the vehicle, such as a global positioning system (GPS) in the vehicle. The path direction may be the direction in which the vehicle moves when traveling along the pre-planned path.

[0061] In the specific implementation, since the actual path may be more complicated, it is actually difficult to calculate the path direction directly based on the path. At this time, in order to determine whether deviation occurs, it is actually only necessary to obtain the path direction of the vehicle when it is traveling along the pre-planned path in a relatively recent period of time. Therefore, in order to facilitate calculation, a coordinate point that is close to the vehicle position and is about to be reached by the vehicle can be selected in the pre-planned path as the next path coordinate point. After that, the path direction is calculated based on the next path coordinate point and the coordinate point corresponding to the vehicle position.

[0062] For example, assuming that the next path coordinate point is A (lonA, latA), and the coordinate point corresponding to the vehicle position is B (lonB, latB), then using Python as an example, the process of calculating the path direction a can be:

[0063] radLatA=radians(latA)

[0064] radLonA=radians(lonA)

[0065] radLatB=radians(latB)

[0066] radLonB=radians(lonB)

[0067] y=sin(radians(lonB)-radians(lonA))*cos(radLatB)

[0068] x=cos(radLatA)*sin(radLatB)-sin(radLatA)*cos(radLatB)*cos(dLon)

[0069] a = degrees(atan2(y,x))

[0070] Among them, radians(), degrees(), sin(), cos(), and atan2() can all be mathematical functions provided by the math object in Python. radians() is a function that converts angles to radians, degrees() is a function that converts radians to angles, sin() is a function that calculates the sine value corresponding to a given angle, cos() is a function that calculates the cosine value corresponding to a given angle, and atan2() is a function that calculates the arctangent value corresponding to a given value. Its return value is the angle value.

[0071] In a specific implementation, in order to ensure the rationality of the path direction, step S10 in this embodiment may include:

[0072] Determining an untraversed path in the pre-planned path based on the vehicle position;

[0073] Determine a reference coordinate according to the vehicle position and a preset distance;

[0074] Detecting whether the reference coordinate is in the untraveled path;

[0075] If the reference coordinate is in the path not passed through, taking the reference coordinate as the reference position;

[0076] A path direction is determined based on the vehicle position and the reference position.

[0077] It should be noted that if the coordinates are selected as the next path coordinate point, that is, the reference position, the selected coordinate point is too close to the current vehicle position, which is actually not conducive to calculating the path direction. Based on this, the manager of the vehicle yaw detection equipment can pre-calibrate a preset distance to facilitate the quick selection of the reference position.

[0078] In actual use, the untraversed path in the pre-planned path can be determined according to the vehicle position, that is, the part of the path that the vehicle has not reached in the pre-planned path can be determined according to the vehicle position, and the part of the path can be used as the untraversed path. Then, based on the vehicle position, the point closest to the vehicle position is selected from the pre-planned path, and the vehicle position is extended by a preset distance based on the direction from the vehicle position to the point, so as to obtain the reference coordinates.

[0079] It should be noted that there may be bends in the pre-planned path. The reference coordinates obtained by extending in this direction may have actually deviated from the pre-planned path and are not in the path that has not been traversed. In this case, the reference coordinates are actually inaccurate as a reference position. Therefore, after determining the reference coordinates, it is possible to further detect whether the reference coordinates are in the path that has not been traversed. If the reference coordinates are in the path that has not been traversed, it means that the reference coordinates have not deviated from the pre-planned path at this time. Therefore, the reference coordinates can be used as a reference position (that is, the next path coordinate point in the above example). After that, the path direction is determined in combination with the vehicle position and the reference position.

[0080] The specific implementation of determining the path direction has been described above and will not be repeated here.

[0081] In a specific implementation, if the reference coordinate is not in the path that has not been passed, it means that the reference coordinate may have actually deviated from the pre-planned path, is not in the path that has not been passed, and is not suitable as a reference position. At this time, adjustment is required to reselect the reference coordinate. Therefore, after the step of detecting whether the reference coordinate is in the path that has not been passed in this embodiment, the following may also be included:

[0082] If the reference coordinate is not in the untraveled path, obtaining a correction coefficient;

[0083] Correcting the preset distance according to the correction coefficient to generate a corrected distance value;

[0084] The corrected distance value is used as a new preset distance, and the process returns to the step of determining the reference coordinates according to the vehicle position and the preset distance.

[0085] It should be noted that the correction coefficient may be a fixed value, and may be pre-set by a manager of the vehicle yaw detection device, for example, the correction coefficient may be set to 0.8.

[0086] Of course, the correction coefficient can also be a dynamic value, for example: calculating the shortest distance value between the reference coordinate and the path not traversed, and searching the corresponding correction coefficient in the preset distance coefficient mapping table according to the shortest distance value, wherein the preset distance coefficient mapping table can be pre-set by the management personnel of the vehicle yaw detection equipment, and is used to store the correspondence between the shortest distance value between the reference coordinate and the path not traversed and the correction coefficient.

[0087] In actual use, after obtaining the correction coefficient, the correction coefficient can be multiplied by the preset distance to generate a corrected distance value. Then, the corrected distance value is used as the new preset distance. Then, the step of determining the reference coordinates based on the vehicle position and the preset distance is returned to reselect the reference coordinates.

[0088] Step S20: Obtain the current driving direction of the vehicle.

[0089] It should be noted that the current driving direction of the vehicle may be the actual driving direction of the vehicle when the vehicle is currently driving, that is, the direction of the front of the vehicle during the driving process.

[0090] In actual use, the positioning signal of the vehicle's global positioning system can be read, and the heading angle therein can be used as the current driving direction of the vehicle.

[0091] Of course, in order to ensure accuracy, it is also possible not to directly use a single heading angle, but to combine multiple frames of positioning signals (such as using the vehicle positioning position in multiple frames of positioning signals within 1 second to determine the vehicle's driving direction) to deduce the vehicle's current driving direction. For example: if two frames of positioning signals are used to deduce the driving direction, the coordinate values ​​corresponding to the two frames of positioning signals can be used as the two coordinate points for calculating the path direction mentioned above, and the driving direction can be calculated in a similar manner.

[0092] In actual use, in order to ensure the standard uniformity of direction, a coordinate system can be constructed with longitude and latitude when calculating the direction, and the vehicle's driving direction and path direction can be determined based on the coordinate system.

[0093] Step S30: determining a deviation angle according to the driving direction and the path direction.

[0094] Step S40: Determine whether the vehicle has yawed based on the deviation angle.

[0095] It should be noted that the deviation angle can be the deviation between the driving direction and the path direction. The larger the deviation angle, the greater the direction difference between the driving direction and the path direction. Specifically, the angle between the driving direction and the path direction can be calculated and used as the deviation angle.

[0096] For example, assuming that the path direction is a and the driving direction is b, the angle ba can be calculated, and the calculated angle value is used as the deviation angle.

[0097] In actual use, when the vehicle is driving, if it yaws and deviates from the pre-planned path (for example, the pre-planned path is straight, but the vehicle turns left, right, or makes a U-turn), then there will inevitably be a large difference between the driving direction and the path direction at this time. Therefore, it is possible to determine whether the vehicle yaws according to the magnitude of the deviation angle.

[0098] For the sake of easy understanding, it is now combined with Figure 2 and 3 for illustration, but it does not limit this solution. Figure 2 is a schematic diagram for calculating the deviation angle of this embodiment, Figure 3 is a schematic diagram of the yaw determination scenario of this embodiment.

[0099] As Figure 2 shown, a coordinate system is constructed based on longitude and latitude, with the due north direction as the positive direction of the Y-axis of the coordinate system. Based on this, the calculated path direction is a, and the driving direction of the vehicle is b. Then the deviation angle θ at this time can be b - a, that is, the included angle between the path direction a and the driving direction b of the vehicle.

[0100] At this time, when 0° < b - a ≤ 180°, the deviation angle θ = b - a, and a right deviation occurs, and the deviation angle is positive;

[0101] When 180° < b - a < 360°, the deviation angle θ = b - a - 360°, and a left deviation occurs, and the deviation angle is negative;

[0102] When -180° < b - a ≤ 0°, the deviation angle θ = b - a, and a left deviation occurs, and the deviation angle is negative;

[0103] When -360° < b - a ≤ -180°, the deviation angle θ = b - a + 360°, and a right deviation occurs, and the deviation angle is positive.

[0104] When the existing in-vehicle navigation determines whether the vehicle yaws, as Figure 3 shown in a, after the user completes the route planning and actively makes a U-turn steering operation and does not drive according to the navigation route, only when the vehicle deviates from the target route by less than 60 meters, the in-vehicle navigation still broadcasts the old route. When the distance exceeds 60 meters, it will recalculate the navigation route (that is, generate a new route) based on the new positioning information and conduct guidance.

[0105] When the vehicle deviation detection method of the present embodiment is used, when the user performs a U-turn operation to drive according to the navigation route, the vehicle deviation is directly determined based on the deviation angle between the vehicle's driving direction (i.e., the direction of the vehicle's front) and the path direction. When the deviation angle exceeds 90 degrees, the navigation route is recalculated (i.e., a new route is generated) and guidance is performed. Compared with the existing deviation judgment method, the vehicle deviation detection method of the present embodiment can detect vehicle deviation more quickly, thereby improving the actual use effect of the in-vehicle navigation and improving the user's actual driving experience.

[0106] This embodiment provides a vehicle deviation detection method. Since the vehicle deviation is not determined directly by distance, the deviation angle between the path direction and the driving direction is used to determine whether the vehicle has deviated. This ensures that even if the moving distance is short, it is possible to quickly confirm whether the vehicle has deviated by the deviation angle, thereby quickly performing the deviation detection, reducing the lag in determining the vehicle deviation, improving the actual use effect of the vehicle navigation, and improving the actual use experience of the user.

[0107] 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 refer to the above introduction, and will not be repeated later. Figure 4 , step S40 includes steps S401 to S403:

[0108] Step S401: Acquire the normal angle range.

[0109] It should be noted that since road conditions may be more complicated, even if the vehicle travels along the pre-planned path, it may change lanes, etc. At this time, the vehicle's driving direction will actually be different from the path direction. Based on this, in order to avoid misjudgment, the manager of the vehicle yaw detection equipment can pre-calibrate and set the normal angle range.

[0110] In a specific implementation, in order to ensure the rationality of the normal angle range, step S401 in this embodiment may include:

[0111] Obtaining lane line information of the road section where the vehicle is currently located;

[0112] Determining whether there are multiple available lanes according to the lane line information;

[0113] If there are not multiple available lanes, a normal angle range is constructed according to the first preset angle threshold.

[0114] It should be noted that when obtaining the lane line information of the road section where the vehicle is currently located, the lane line information provided by the vehicle navigation can be directly used. Of course, the road surface image can also be captured by an image acquisition device set in the vehicle, and the road surface image can be identified to obtain the lane line information. This embodiment does not limit this.

[0115] In actual use, the type of the road section the vehicle is currently on can be determined based on the lane line information, thereby determining the number of available lanes for the vehicle to travel. The available lanes are lanes that can be used normally when the vehicle is traveling forward, excluding lanes that are borrowed for driving in some special circumstances.

[0116] For example: if the vehicle is currently located on a two-lane road or a one-way single lane according to the lane line information, then the number of available lanes for the vehicle can be determined to be 1; if the vehicle is currently located on a four-lane road or a one-way two-lane road, then the number of available lanes for the vehicle can be determined to be 2; if the vehicle is currently located on a six-lane road, then the number of available lanes for the vehicle can be determined to be 3, and so on.

[0117] It should be noted that if there are not multiple available lanes, it means that the vehicle can basically only maintain straight-line driving. At most, in some special circumstances, it may be found that the vehicle has to drive in other lanes. Therefore, the normal angle range can be directly constructed according to the first preset angle threshold. For example: assuming that the first preset angle threshold is M, the normal angle range is -M~M.

[0118] Among them, since the vehicle basically does not change lanes when there are not multiple available lanes, in order to avoid misjudgment of yaw, the first preset angle threshold can be set to a smaller angle, for example: the first preset angle threshold is set to a value between 45° and 60°.

[0119] In a specific implementation, in order to ensure the rationality of the normal angle range, after determining whether there are multiple available lanes according to the lane line information in this embodiment, the following may also be included:

[0120] If there are multiple available lanes, obtain the number of available lanes and the lane the vehicle is in;

[0121] Determining a lane change direction according to the number of available lanes and the lane in which the vehicle is located;

[0122] Based on the variable lane direction, a normal angle range is constructed according to a first preset angle threshold and / or a second preset angle threshold, wherein the first preset angle threshold is greater than the second preset angle threshold.

[0123] It should be noted that if there are multiple available lanes, it means that there are more available lanes during the driving process of the vehicle, and the vehicle may change lanes during the driving process. When the vehicle is in different lanes, the direction of the lane change may also be different. In order to reasonably set the normal angle range, the lane change direction can be determined according to the number of available lanes and the lane where the vehicle is located. Then, according to the lane change direction, the normal angle range is constructed according to the first preset angle threshold and / or the second preset angle threshold.

[0124] Among them, the second preset angle threshold is greater than the first preset angle threshold. The second preset angle threshold is a threshold set when considering the vehicle's lane change situation. In order to avoid misjudgment of yaw, the second preset angle threshold can be set larger, for example: the second preset angle threshold is set to a value between 70° and 90°.

[0125] For ease of understanding, the following examples are given, but are not intended to limit this solution:

[0126] Assume that when the vehicle changes lanes to the right, the deviation angle is a positive value, and when the vehicle changes lanes to the left, the deviation angle is a negative value, and the first preset angle threshold is M, the second preset angle threshold is N, and N>M, then:

[0127] If the number of available lanes is 2 and the vehicle is in the left lane, then the vehicle can only change lanes to the right, and the normal angle range can be set to -M~N;

[0128] If the number of available lanes is 2 and the vehicle is in the right lane, then the vehicle can only change lanes to the left, and the normal angle range can be set to -N~M;

[0129] If the number of available lanes is ≥ 3, and the vehicle is in the leftmost lane, then the vehicle can only change lanes to the right, and the normal angle range can be set to -M to N;

[0130] If the number of available lanes is ≥ 3, and the vehicle is in the rightmost lane, then the vehicle can only change lanes to the left, and the normal angle range can be set to -N~M;

[0131] If the number of available lanes is ≥3, and the vehicle is in a middle lane that is neither the leftmost lane nor the rightmost lane, the vehicle may change lanes to the left or to the right, and the normal angle range can be set to -N to N.

[0132] Among them, if the lane line information cannot be obtained (such as the signal is weak and the lane line information cannot be obtained), in order to minimize misjudgment, the normal angle range can be directly constructed according to the second preset angle threshold. When the deviation angle is within the normal angle range, the distance value will be used for comprehensive judgment. At this time, it can still be guaranteed that whether the vehicle has deviated can be determined, but the corresponding detection accuracy and detection speed may be relatively slow.

[0133] Step S402: Detect whether the deviation angle is within the normal angle range.

[0134] Step S403: If the deviation angle exceeds the normal angle range, it is determined that the vehicle has yawed.

[0135] In actual use, the deviation angle is compared with the normal angle range to determine whether the deviation angle is within the normal angle range. This can determine whether there is a large error between the vehicle's driving direction and the path direction during driving. Therefore, it can be quickly determined whether the vehicle has deviated.

[0136] In actual applications, if the deviation angle exceeds the normal angle range, that is, the deviation angle is greater than the maximum value of the interval in the normal angle range, or is less than the minimum value of the interval in the normal angle range, it means that there is a large difference between the vehicle's driving direction and the path direction at this time. At this time, the vehicle is likely to have deviated from the pre-planned path. Therefore, it can be determined that the vehicle has deviated.

[0137] In a specific implementation, in order to accurately determine whether the vehicle has deviated, after step S402 in this embodiment, the following steps may be further performed:

[0138] If the deviation angle is within the normal angle range, determining the shortest distance of the vehicle position relative to the pre-planned path;

[0139] If the shortest distance is greater than a preset distance threshold, it is determined that the vehicle has deviated.

[0140] It should be noted that when the vehicle deviates, the vehicle's driving direction will generally be too different from the path direction. However, in some scenarios, even if the deviation angle is within the normal angle range, the vehicle may still deviate (for example, the pre-planned path has a certain curvature, or the road section is relatively special. In this case, even if the deviation angle is small, the vehicle may still deviate from the pre-planned path). In order to avoid errors in vehicle deviation judgment based only on the deviation angle, when it is determined that the deviation angle is at a normal angle, further judgment can be made based on the distance value of the vehicle from the pre-planned path. Therefore, the shortest distance of the vehicle position relative to the pre-planned path can be obtained.

[0141] The shortest distance between the vehicle position and the pre-planned path may be the minimum value of the distance values ​​between the vehicle position and the pre-planned path.

[0142] In actual use, if the shortest distance is greater than the preset distance threshold, it means that although the deviation angle is within the normal angle range, the vehicle has actually been far away from the pre-planned path after driving. Therefore, it can be determined that the vehicle has deviated.

[0143] The preset distance threshold may be pre-calibrated by a manager of the vehicle deviation detection device. For example, the preset distance threshold may be set to 5 meters, 10 meters, etc. through pre-calibration.

[0144] This embodiment provides a vehicle deviation detection method. When making a deviation judgment, the lane line information of the road section where the vehicle is actually located and the lane where the vehicle is located are comprehensively judged, and a normal angle range is reasonably set to ensure the accuracy of detecting whether the vehicle has deviated based on the deviation angle.

[0145] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the vehicle deviation detection method of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0146] This application also provides a vehicle deviation detection device, please refer to Figure 5 , the vehicle deviation detection device comprises:

[0147] A determination module 10, for determining a path direction according to a vehicle position and a pre-planned path;

[0148] An acquisition module 20 is used to acquire the current driving direction of the vehicle;

[0149] A calculation module 30, configured to determine a deviation angle according to the driving direction and the path direction;

[0150] The determination module 40 is configured to determine whether the vehicle has yawed based on the deviation angle.

[0151] The vehicle yaw detection device provided by the present application adopts the vehicle yaw detection method in the above embodiment, which can solve the technical problem that the vehicle navigation in the related art has a hysteresis in judging the vehicle yaw and the actual use effect is poor. Compared with the prior art, the beneficial effect of the vehicle yaw detection device provided by the present application is the same as the beneficial effect of the vehicle yaw detection method provided by the above embodiment, and the other technical features in the vehicle yaw detection device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0152] The present application provides a vehicle yaw detection 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 vehicle yaw detection method in the above-mentioned embodiment 1.

[0153] Reference below Figure 6 , which shows a schematic diagram of the structure of a vehicle deviation detection device suitable for implementing the embodiment of the present application. The vehicle deviation detection 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 6 The vehicle yaw detection device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0154] like Figure 6As shown, the vehicle yaw detection 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 vehicle yaw detection 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 vehicle deviation detection device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a vehicle deviation detection 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.

[0155] 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.

[0156] The vehicle yaw detection device provided by the present application adopts the vehicle yaw detection method in the above embodiment, which can solve the technical problem that the vehicle navigation in the related art has a hysteresis in judging the vehicle yaw and the actual use effect is not good. Compared with the prior art, the beneficial effect of the vehicle yaw detection device provided by the present application is the same as the beneficial effect of the vehicle yaw detection method provided by the above embodiment, and the other technical features in the vehicle yaw detection device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0157] 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.

[0158] 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.

[0159] 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 vehicle deviation detection method in the above-mentioned embodiment.

[0160] 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.

[0161] The computer-readable storage medium may be included in the vehicle deviation detection device; or may exist independently without being assembled into the vehicle deviation detection device.

[0162] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the vehicle yaw detection device, the vehicle yaw detection device: determines the path direction according to the vehicle position and the pre-planned path; obtains the current driving direction of the vehicle; determines the deviation angle according to the driving direction and the path direction; and determines whether the vehicle has yawed based on the deviation angle.

[0163] 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).

[0164] 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.

[0165] 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.

[0166] 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 vehicle deviation detection method, and can solve the technical problem that the vehicle navigation in the related art has a hysteresis in judging the vehicle deviation and the actual use effect is not good. 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 vehicle deviation detection method provided by the above-mentioned embodiment, and will not be repeated here.

[0167] The present application also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the vehicle deviation detection method as described above are implemented.

[0168] The computer program product provided by the present application can solve the technical problem that the vehicle navigation system in the related art has a lag in judging the vehicle deviation and the actual use effect is poor. 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 vehicle deviation detection method provided by the above embodiment, and will not be elaborated here.

[0169] 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 vehicle deviation detection method, characterized in that: The method comprises: Determine the path direction based on the vehicle position and pre-planned path; Get the current driving direction of the vehicle; determining a deviation angle according to the driving direction and the path direction; It is determined whether the vehicle is yawed based on the deviation angle.

2. The vehicle deviation detection method according to claim 1, characterized in that: The determining whether the vehicle deviates based on the deviation angle comprises: Get the normal angle range; Detecting whether the deviation angle is within the normal angle range; If the deviation angle exceeds the normal angle range, it is determined that the vehicle has yawed.

3. The vehicle deviation detection method according to claim 2, characterized in that: The obtaining of the normal angle range includes: Obtaining lane line information of the road section where the vehicle is currently located; Determining whether there are multiple available lanes according to the lane line information; If there are not multiple available lanes, a normal angle range is constructed according to the first preset angle threshold.

4. The vehicle deviation detection method according to claim 3, characterized in that: After determining whether there are multiple available lanes according to the lane line information, the method further includes: If there are multiple available lanes, obtain the number of available lanes and the lane the vehicle is in; Determining a lane change direction according to the number of available lanes and the lane in which the vehicle is located; Based on the variable lane direction, a normal angle range is constructed according to a first preset angle threshold and / or a second preset angle threshold, wherein the first preset angle threshold is greater than the second preset angle threshold.

5. The vehicle deviation detection method according to claim 2, characterized in that: The detecting whether the deviation angle is within the normal angle range includes: If the deviation angle is within the normal angle range, determining the shortest distance of the vehicle position relative to the pre-planned path, the shortest distance being the minimum value of the distance values ​​of the vehicle position relative to the pre-planned path; If the shortest distance is greater than a preset distance threshold, it is determined that the vehicle has deviated.

6. The vehicle deviation detection method according to any one of claims 1 to 5, characterized in that: Determining the path direction according to the vehicle position and the pre-planned path includes: Determining an untraversed path in the pre-planned path based on the vehicle position; Determine a reference coordinate according to the vehicle position and a preset distance; Detecting whether the reference coordinate is in the untraveled path; If the reference coordinate is in the path not passed through, taking the reference coordinate as the reference position; A path direction is determined based on the vehicle position and the reference position.

7. The vehicle deviation detection method according to claim 6, characterized in that: After detecting whether the reference coordinate is in the untraveled path, the method further includes: If the reference coordinate is not in the untraveled path, obtaining a correction coefficient; Correcting the preset distance according to the correction coefficient to generate a corrected distance value; The corrected distance value is used as a new preset distance, and the process returns to the step of determining the reference coordinates according to the vehicle position and the preset distance.

8. A vehicle deviation detection device, characterized in that: The device comprises: A determination module, used to determine the path direction according to the vehicle position and the pre-planned path; An acquisition module is used to obtain the current driving direction of the vehicle; A calculation module, used to determine a deviation angle according to the driving direction and the path direction; A determination module is used to determine whether the vehicle has yawed based on the deviation angle.

9. A vehicle deviation detection 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 vehicle deviation detection method according to any one of claims 1 to 7.

10. 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 vehicle deviation detection method according to any one of claims 1 to 7 are implemented.

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