Position classification method and device, vehicle and medium

Abstract

The invention discloses a position classification method and device, a vehicle and a medium. The method comprises the following steps: when a current driving condition meets a preset driving condition, acquiring a historical navigation and positioning information set of a historical acquisition time period, a current navigation and positioning information set of a current acquisition time period, other position information of other vehicles and a preset lane width of a lane where the vehicles are located; determining circle center position information and circle center state information of the current turning circle center according to the historical navigation positioning information set, the current navigation positioning information set and a preset lane width; and when the circle center state information meets a stable condition, classifying the relative positions of other vehicles relative to the own vehicle according to the circle center position information and other position information to obtain a position classification result. Through the technical scheme of the invention, the position classification of other vehicles at the curve can be carried out without depending on the data provided by the roadside terminal and depending on the navigation positioning information of the own vehicle, so that the pertinence of the scene is improved, and the classification accuracy is improved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of connected vehicles, and in particular, to a location classification method, device, vehicle, and medium. Background Art

[0002] Vehicle to everything (V2X) is a new direction for the development of automotive technology by integrating global positioning system (GPS) navigation technology, vehicle-to-vehicle communication technology, wireless communication and remote sensing technology. Vehicles equipped with this technology can automatically select the best route in terms of road conditions by analyzing and classifying real-time traffic information and vehicles in autonomous driving mode, thereby greatly alleviating traffic congestion. In addition, by using on-board sensors and camera systems, it can also sense the surrounding environment and make rapid adjustments, thus achieving "zero traffic accidents".

[0003] In actual V2X application scenarios, the current method with high confidence in vehicle target classification is logical road network classification based on roadside terminals, followed by vehicle historical path classification based on vehicle-mounted terminals. Among them, the method based on logical road network relies on the fact that both the vehicle and other vehicles have results based on logical road networks.

[0004] However, in actual application scenarios, this method fails due to insufficient coverage of roadside terminals and lack of road network information. Classification based on historical paths requires that the vehicle has sent a historical path and the following vehicle is on the path of the preceding vehicle. This method is more suitable for straight roads, but has certain limitations on circular roads such as ramps and roundabouts. Summary of the invention

[0005] The embodiments of the present invention provide a position classification method, device, vehicle and medium to achieve accurate classification of the relative positions of vehicles on a circular road, thereby solving the problem of insufficient coverage of roadside terminals.

[0006] According to a first aspect of the present invention, there is provided a location classification method, comprising:

[0007] When the current driving condition meets the preset driving condition, the historical navigation positioning information set of the historical collection period, the current navigation positioning information set of the current collection period, other position information of other vehicles and the preset lane width of the lane are obtained;

[0008] Determine the center position information and center state information of the current turning circle according to the historical navigation positioning information set, the current navigation positioning information set and the preset lane width;

[0009] When the circle center state information satisfies a stability condition, the relative positions of the other vehicles with respect to the own vehicle are classified according to the circle center position information and the other position information to obtain a position classification result.

[0010] According to a second aspect of the present invention, there is provided a position classification device, the device comprising:

[0011] An information acquisition module, used to acquire a historical navigation positioning information set of a historical collection period, a current navigation positioning information set of a current collection period, other position information of other vehicles, and a preset lane width of the lane in which the vehicle is located when the current driving condition meets the preset driving condition;

[0012] An information determination module, used to determine the center position information and center state information of the current turning circle center according to the historical navigation positioning information set, the current navigation positioning information set and the preset lane width;

[0013] The result determination module is used to classify the relative positions of the other vehicles with respect to the own vehicle according to the center position information and the other position information when the center state meets the stability condition, so as to obtain a position classification result.

[0014] According to a third aspect of the present invention, there is provided a vehicle, the vehicle comprising:

[0015] at least one controller; and

[0016] A memory in communication with the at least one controller; wherein,

[0017] The memory stores a computer program that can be executed by the at least one controller, and the computer program is executed by the at least one controller so that the at least one controller can perform the location classification method described in any embodiment of the present invention.

[0018] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a controller to implement the position classification method described in any embodiment of the present invention when executed.

[0019] The technical solution of the embodiment of the present invention is to obtain the historical navigation positioning information set of the historical collection period, the current navigation positioning information set of the current collection period, other position information of other vehicles and the preset lane width of the lane when the current driving condition meets the preset driving condition; determine the center position information and center state information of the current turning circle according to the historical navigation positioning information set, the current navigation positioning information set and the preset lane width; when the center state information meets the stability condition, classify the relative positions of other vehicles relative to the own vehicle according to the center position information and other position information to obtain the position classification result. Through the technical solution of the present invention, there is no need to rely on the roadside terminal to provide data, relying on the navigation positioning information of the own vehicle, to classify the positions of other vehicles at the bend, thereby improving the pertinence of the scene and the accuracy of the classification.

[0020] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 is a flow chart of a location classification method provided according to Embodiment 1 of the present invention;

[0023] Figure 2 is a flow chart of a location classification method provided according to Embodiment 2 of the present invention;

[0024] Figure 3 is an example flow chart of a location classification method provided according to Embodiment 2 of the present invention;

[0025] Figure 4 is a structural schematic diagram of a position classification device provided according to Embodiment 3 of the present invention;

[0026] Figure 5 Schematic diagram of the structure of a vehicle implementing an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and their meanings are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] It is understandable that before using the technical solutions disclosed in the embodiments of the present disclosure, the types, scope of use, usage scenarios, etc. of the personal information involved in the present disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0030] Embodiment 1

[0031] Figure 1 is a flow chart of a position classification method in an embodiment of the present invention. This embodiment can be applied to classifying the relative positions of vehicles on a circular road. This method can be executed by a position classification device in an embodiment of the present invention. The device can be implemented in software and / or hardware. The position classification device can be configured in a vehicle. Figure 1 As shown, the method specifically comprises the following steps:

[0032] S110. When the current driving condition meets the preset driving condition, obtain the historical navigation positioning information set of the historical collection period, the current navigation positioning information set of the current collection period, other position information of other vehicles and the preset lane width of the lane.

[0033] In this embodiment, the current driving condition can be understood as the driving information reflecting whether the vehicle is going straight or turning. The preset driving condition can be understood as the condition for judging whether it is in a circular road, such as the vehicle is in a turning state. The historical collection period can be understood as the time period under the set time length before the current collection period, for example, the set time length can be 2s. The historical navigation positioning information can be understood as the positioning information including the position, speed and time of the own vehicle in the historical collection period. The current collection period can be understood as the collection period corresponding to the set time length. The current navigation positioning information can be understood as the positioning information including the position, speed and time of the own vehicle in the current collection period. Other vehicles can be understood as other vehicles stationary on the path passed by the own vehicle. Other position information can be understood as information characterizing the angle of other vehicles relative to the own vehicle. The lane can be understood as the driving road divided by the lane line on the road where the own vehicle is driving. The preset lane width can be understood as the distance between the two lane lines of the lane.

[0034] Specifically, the controller can determine the current driving condition based on the current driving control parameters determined, such as whether it is currently turning or currently going straight, and compare it with the preset driving conditions to determine whether the vehicle itself is in a turning state. When the current driving condition meets the preset driving conditions, that is, when the vehicle itself is turning, the controller can obtain navigation and positioning information in real time through the Global Navigation Satellite System (GNSS), and form a historical navigation and positioning information set in the historical collection period and a current navigation and positioning information set in the current collection period according to the collection period. The controller can determine other position information of other vehicles on the driving path based on relevant sensors. The controller can obtain the preset lane width of the lane stored in the relevant storage medium.

[0035] S120: Determine the center position information and center state information of the current turning circle according to the historical navigation positioning information set, the current navigation positioning information set and the preset lane width.

[0036] In this embodiment, the current turning circle center can be understood as the turning circle center around which the vehicle turns. The circle center position information can be understood as the position of the circle center. The circle center state information can be understood as the state information used to characterize the change of the circle center.

[0037] Specifically, the controller can determine the center of the circle corresponding to the historical collection period according to the historical navigation positioning information set, determine the center of the circle corresponding to the current collection period according to the current navigation positioning information set, and determine the center state information according to the change distance of the center of the circle between the two collection periods and the preset lane width. The controller can select multiple feature points for determining the final center position from the historical navigation positioning information set and the current navigation positioning information set, and determine the center position information of the turning circle where the vehicle is currently located according to the multiple feature points.

[0038] S130. When the circle center state information satisfies a stability condition, the relative positions of other vehicles with respect to the own vehicle are classified according to the circle center position information and other position information to obtain a position classification result.

[0039] In this embodiment, the stability condition can be understood as the condition for judging that the circle center state information is in a stable state. The position classification result can be understood as the result used to characterize the position of other vehicles relative to the own vehicle, and is used by the controller to perform subsequent operations such as path planning based on the position classification result.

[0040] Specifically, when the center state information is in a stable state and the controller determines that the stability condition is met, the controller can determine the longitudinal distance and lateral distance of other vehicles relative to the own vehicle based on the center position information and other position information, and determine whether other vehicles are in front of or behind the own vehicle based on the azimuth of other vehicles relative to the own vehicle in other position information. The controller can comprehensively determine the position classification results of other vehicles based on the longitudinal distance, lateral distance, front and rear information, and preset lane width. For example, the position classification results may include in front, adjacent to the left side in front, adjacent to the right side in front, and left side of the front separated by a lane, etc.

[0041] The technical solution of the embodiment of the present invention is to obtain the historical navigation positioning information set of the historical collection period, the current navigation positioning information set of the current collection period, other position information of other vehicles and the preset lane width of the lane when the current driving condition meets the preset driving condition; determine the center position information and center state information of the current turning circle according to the historical navigation positioning information set, the current navigation positioning information set and the preset lane width; when the center state information meets the stability condition, classify the relative positions of other vehicles relative to the own vehicle according to the center position information and other position information to obtain the position classification result. Through the technical solution of the present invention, there is no need to rely on the roadside terminal to provide data, relying on the navigation positioning information of the own vehicle, to classify the positions of other vehicles at the bend, thereby improving the pertinence of the scene and the accuracy of the classification.

[0042] Embodiment 2

[0043] Figure 2This is a flow chart of a location classification method provided in Embodiment 2 of the present invention. This embodiment is a further refinement of the above embodiments. Figure 2 As shown, the method includes:

[0044] S201. When the current driving condition meets the preset driving condition, obtain the historical navigation positioning information set of the historical collection period, the current navigation positioning information set of the current collection period, other position information of other vehicles and the preset lane width of the lane.

[0045] S202: Determine a feature point set according to a historical navigation positioning information set and a current navigation positioning information set.

[0046] In this embodiment, the feature point set may be understood as a set of feature points used to determine the center of a circle.

[0047] Specifically, the controller may select feature points from the historical navigation and positioning information set according to a set number of feature points, and select feature points from the current navigation and positioning information set according to a set number of feature points to form a feature point set.

[0048] Exemplarily, the number of feature points set is 3, and the current navigation and positioning information set includes several points. The controller can record the first point as feature point 1, the middle point as feature point 2, and the latest point as feature point 3. If it is the first time to select feature points, the above 3 points are the feature points; otherwise, the last feature points are retained. If the last feature points are less than 3, feature points 2 and 3 are added in the order of the points in the current navigation and positioning information set to form a feature point set for the current collection period, and the feature point set determined in the historical collection period is combined to form a feature point set.

[0049] S203: Determine, based on the feature point set, a movement distance of the circle center of the historical collection period relative to the circle center of the current collection period.

[0050] In this embodiment, the moving distance of the circle center can be understood as the distance of the circle center deviation in two consecutive acquisition periods.

[0051] Specifically, the controller may determine the center position of the circle in the historical collection period and the center position of the circle in the current collection period based on the feature points in the feature point set. The controller may compare the two center positions to determine the moving distance of the center.

[0052] S204: If the circle center moving distance is greater than or equal to the product of the preset lane width and the preset multiple, it is determined that the circle center state information of the turning circle is in an unstable state, and the feature point set is cleared.

[0053] In this embodiment, the setting multiple can be understood as a multiple used to determine whether the circle center state is stable, for example, it can be 2. The unstable state can be understood as a multiple used to characterize that the distance between the two changes of the circle center is large.

[0054] Specifically, the controller can determine the product of the preset lane width and the preset multiple, and then when the center movement distance is greater than or equal to the product of the preset lane width and the set multiple, the controller can determine that the center state information of the turning circle is an unstable state and clear the feature point set.

[0055] S205: Otherwise, update the feature point set to obtain an updated target feature point set.

[0056] In this embodiment, the target feature point set can be understood as a set of feature points that have been updated to be accurate.

[0057] Specifically, when the moving distance of the circle center is less than or equal to the product of the preset lane width and the set multiple, the controller may update the feature points in the feature point set that do not meet the conditions to obtain an updated target feature point set.

[0058] Furthermore, the feature point set includes a historical sub-feature point set and a current sub-feature point set. Based on the above embodiment, the step of updating the feature point set to obtain an updated target feature point set can be concretized as follows:

[0059] In this embodiment, the historical sub-feature point set can be understood as a set of feature points for a historical collection period, and the current sub-feature point set can be understood as a set of feature points for a current collection period.

[0060] If the number of current feature points in the current sub-feature point set is less than the preset number, then when the current number of feature points is zero, or when the current number of feature points is not zero and the heading angle difference between the first current feature point in the current sub-feature point set and the first historical feature point in the historical sub-feature point set is greater than the set angle, the first historical feature point is added to the current feature point set to obtain an updated target feature point set; otherwise, if the heading angle difference between the latest feature point in the current sub-feature point set and the first historical feature point is greater than the set angle, the first historical feature point is replaced with the oldest feature point in the current sub-feature point set, and the feature points of the replaced current feature point set are sorted in the update order to obtain the target feature point set.

[0061] In this embodiment, the preset number can be understood as the number of feature points used to determine the center of the circle. The first current feature point can be understood as the earliest feature point arranged in chronological order during the current acquisition period. The first historical feature point can be understood as the earliest feature point arranged in chronological order during the historical acquisition period. The heading angle can be understood as the angle from the north direction to the vehicle's driving direction clockwise, which is used to determine the actual movement direction of the vehicle on the ground. The latest feature point can be understood as the feature point that is most recently added to the feature point set. The oldest feature point can be understood as the feature point that is earliest added to the feature point set. The target feature point set can be understood as a set of updated feature points.

[0062] Specifically, when the distance of the circle center movement is less than the product of the preset lane width and the set multiple, if the number of current feature points in the current sub-feature point set is less than the preset number, then when the number of current feature points is zero, or when the number of current feature points is not zero and the heading angle difference between the first current feature point in the current sub-feature point set and the first historical feature point in the historical sub-feature point set is greater than the set angle, the first historical feature point is added to the current feature point set to obtain an updated target feature point set. When the number of current feature points in the current sub-feature point set is greater than or equal to the preset number, if the heading angle difference between the latest feature point added in the current sub-feature point set and the first historical feature point is greater than the set angle, the first historical feature point is replaced with the oldest feature point in the current sub-feature point set, and the feature points of the replaced current feature point set are sorted in the update order to obtain the target feature point set.

[0063] S206 , determining circle center state information and circle center position information according to the circle center moving distance, the target feature point set and the preset lane width.

[0064] Specifically, the controller may determine that the circle center state information is a steady state when the circle center moving distance is less than the product of the preset lane width and the set multiple, and when the circle center moving distance is less than the preset lane width, the circle center state is a gradually steady state when the circle center moving distance is greater than or equal to the preset lane width. The controller may determine the circle center position information in a steady state based on the feature points in the target feature point set.

[0065] Further, based on the above embodiment, the step of determining the circle center state information and circle center position information according to the circle center moving distance, the target feature point set and the preset lane width can be concretized as follows:

[0066] The center position information is determined based on the target feature point set; if the moving distance of the center is less than the preset lane width, the stable state is used as the center state information; otherwise, the gradually stable state is used as the center state information.

[0067] In this embodiment, the gradually stable state can be understood as a state that is gradually stable but has not yet reached stability. The stable state can be understood as a state in which the center of the circle changes stably in two previous and next acquisition periods.

[0068] Specifically, the controller can determine the center position information based on the target feature point set. If the distance the center moves is less than the preset lane width, the stable state is used as the center state information. If the distance the center moves is greater than or equal to the preset lane width, the gradually stable state is used as the center state information, and the target feature point set is added as a reference when the center state information is subsequently determined based on the feature point set.

[0069] S207: When the circle center state information satisfies a stability condition, determine the relative angle of other vehicles with respect to the own vehicle according to the circle center position information and other position information.

[0070] In this embodiment, the relative angle may be understood as a central angle or an azimuth angle formed by the positions of other vehicles and the own vehicle.

[0071] Specifically, when the center state information meets the stability conditions, the controller can determine the center angle formed by the positions of other vehicles and its own vehicle as a relative angle or determine the azimuth angle of other vehicles relative to its own vehicle as a relative angle based on the center position information and other position information.

[0072] S208: If the relative angle meets the preset filtering condition, other vehicles are considered as influencing vehicles.

[0073] In this embodiment, the preset filtering condition can be understood as a setting for filtering vehicles that may have an impact on the own vehicle, and can be set according to actual conditions, usually in the form of an angle. The impact vehicle can be understood as a vehicle that may have an impact on the driving path of the own vehicle.

[0074] Specifically, the controller can compare the relative angle with a preset filtering condition. For example, if the preset filtering condition is less than or equal to 90°, when the relative angle meets the preset filtering condition, that is, the relative angle is less than or equal to 90°, the other vehicles are determined to be influencing vehicles that have a potential impact on the own vehicle.

[0075] S209: Otherwise, treat the other vehicles as irrelevant vehicles.

[0076] In this embodiment, irrelevant vehicles may be understood as vehicles that will not have potential impact.

[0077] Specifically, when the relative angle does not satisfy the preset filtering condition, that is, when the relative angle is greater than 90° in the above example, other vehicles are regarded as irrelevant vehicles and are not classified.

[0078] S210: Determine relative distance information based on the relative angle and center position information of the influencing vehicle relative to the own vehicle.

[0079] In this embodiment, the relative distance information may be understood as being used to indicate the distance between the influencing vehicle and the own vehicle.

[0080] Specifically, the controller can determine the position of the influencing vehicle relative to the own vehicle based on the relative angle of the influencing vehicle relative to the own vehicle, and then determine the distance from the own vehicle and the influencing vehicle to the center of the circle through the center position information, and determine the relative distance information between the two through the position and the distance from the two to the center of the circle.

[0081] Further, based on the above embodiment, the step of determining the relative distance information according to the relative angle and center position information of the influencing vehicle relative to the own vehicle can be concretized as follows:

[0082] Extract the center angle of the circle from the relative angle of the affecting vehicle relative to the own vehicle, as well as the center position and turning radius from the center position information; determine the longitudinal distance interval of the affecting vehicle relative to the own vehicle based on the center angle and the turning radius; determine the lateral distance interval of the affecting vehicle relative to the own vehicle based on other position information of the affecting vehicle and the center position; use the longitudinal distance interval and the lateral distance interval as relative distance information.

[0083] In this embodiment, the center angle can be understood as the angle formed by the influencing vehicle and the own vehicle under the same center of the circle. The center position can be understood as the position of the center of the circle. The turning radius can be understood as the radius of the turning circle where the own vehicle is located. The longitudinal distance interval can be understood as the lateral distance between the influencing vehicle and the own vehicle.

[0084] Specifically, the controller can extract the center angle of the circle from the relative angle of the affected vehicle relative to the own vehicle, as well as the center position and turning radius from the center position information. The controller can multiply the center angle by the turning radius. Since the turning radius or the center angle is not an exact value but a range form, the longitudinal distance interval of the affected vehicle relative to the own vehicle can be determined. The controller can determine the lateral distance interval of the affected vehicle relative to the own vehicle based on other position information and the center position of the affected vehicle. The controller can use the longitudinal distance interval and the lateral distance interval as relative distance information.

[0085] Among them, based on the above embodiment, the step of determining the lateral distance interval of the influencing vehicle relative to the own vehicle according to other position information and the center position of the influencing vehicle can be refined as follows:

[0086] According to other position information of the affected vehicle, the first distance information from the affected vehicle to the center position of the circle is determined; the second distance information from the own vehicle to the center position of the circle is determined; and according to the first distance information and the first distance information, the lateral distance interval of the affected vehicle relative to the own vehicle is determined.

[0087] In this embodiment, the first distance information may represent the distance range from the influencing vehicle to the center position of the circle, and the second distance information may represent the distance range from the own vehicle to the center position of the circle.

[0088] Specifically, the controller can determine the first distance information from the position of the affected vehicle to the center of the circle based on other position information of the affected vehicle. The controller can determine the second distance information from the own vehicle to the center of the circle, and determine the lateral distance interval of the affected vehicle relative to the own vehicle based on the first distance information and the first distance information, wherein the left and right ends of the lateral distance interval are positive and negative, used to represent the left or right side of the vehicle. For example, the lateral distance interval is (-1.75, 1.75), which represents that the affected vehicle is in front of the own vehicle. The preset lane width is 3.5m, then (-5.25, -1.75) represents that the affected vehicle is on the left side of the adjacent lane of the own vehicle, and (5.25, 8.75) represents that the affected vehicle is on the right side of the own vehicle separated by a lane.

[0089] S211. Determine the position classification result of the influencing vehicle according to the relative distance information.

[0090] Specifically, the controller can determine the lane and direction of the influencing vehicle based on the relative distance information, and obtain the position classification result of the influencing vehicle.

[0091] The technical solution of the embodiment of the present invention is to first roughly determine the moving distance between the centers of the circle in two collection periods according to the historical navigation positioning information set and the current navigation positioning information set when the current driving condition meets the preset driving condition, determine the center state information corresponding to the center of the circle by comparing the moving distance of the center of the circle with the preset lane width, select the target feature point set for determining the center of the circle from the historical navigation positioning information set and the current navigation positioning information set through the center state information, and determine the center position information corresponding to the center of the circle of the own vehicle turning through the target feature point set, thereby realizing the accurate determination of the center of the circle and providing support for the accurate classification of subsequent positions. Through the center position information, other position information of other vehicles and preset filtering conditions, the influencing vehicles that potentially affect the driving path of the own vehicle are selected, and then the relative distance information of the influencing vehicles relative to the own vehicle is determined through the other position information of the influencing vehicles and the center position information, and the influencing vehicles are classified by position through the relative distance information to obtain the position classification result. Without relying on the roadside terminal to provide data, other vehicles at the bend can be classified by relying on the navigation positioning information of the own vehicle, thereby improving the pertinence of the scene and the accuracy of classification.

[0092] For example, in order to facilitate understanding of the process of determining the circle center state information in the present invention, a specific example is used for illustration. Figure 3 This is an example flow chart of a location classification method provided in Embodiment 2 of the present invention, such as Figure 3 As shown, taking the preset number of feature points as 3 and the setting multiple as 2 as an example, the steps may be:

[0093] S301, when the current driving condition meets the preset driving condition, obtaining the historical navigation positioning information set of the historical collection period, the current navigation positioning information set of the current collection period, other position information of other vehicles and the preset lane width of the lane;

[0094] S302, determining a circle center moving distance and a feature point set according to a historical navigation positioning information set and a current navigation positioning information set;

[0095] S303. Is the moving distance of the circle center less than 2 times the preset lane width? If yes, jump to step S306; if no, jump to step S304;

[0096] S304, clearing feature points in the feature point set;

[0097] S305, the circle center state information is in an unstable state;

[0098] S306, obtaining the number of feature points in the feature point set;

[0099] S307, is the number of feature points less than 3? If yes, jump to step S309; ​​if no, jump to step S308;

[0100] S308, updating feature points;

[0101] S309, adding feature points;

[0102] S310, obtaining a target feature point set;

[0103] S311. Is the moving distance of the circle center less than the preset lane width? If yes, jump to step S312; if no, jump to step S314;

[0104] S312, the circle center state information is in a stable state;

[0105] S313, determining the circle center position information according to the target feature point set;

[0106] S314, the circle center state information is gradually stable.

[0107] Embodiment 3

[0108] Figure 4 This is a schematic diagram of the structure of a position classification device provided in Embodiment 3 of the present invention. Figure 4 As shown, the device includes: an information acquisition module 41, an information determination module 42 and a result determination module 43.

[0109] The information acquisition module 41 is used to acquire the historical navigation positioning information set of the historical collection period, the current navigation positioning information set of the current collection period, other position information of other vehicles and the preset lane width of the lane in which they are located when the current driving condition meets the preset driving condition;

[0110] An information determination module 42, configured to determine the center position information and the center state information of the current turning circle according to the historical navigation positioning information set, the current navigation positioning information set and the preset lane width;

[0111] The result determination module 43 is used to classify the relative positions of the other vehicles with respect to the own vehicle according to the circle center position information and the other position information when the circle center state meets the stability condition, so as to obtain a position classification result.

[0112] The technical solution of the embodiment of the present invention is to obtain the historical navigation positioning information set of the historical collection period, the current navigation positioning information set of the current collection period, other position information of other vehicles and the preset lane width of the lane when the current driving condition meets the preset driving condition; determine the center position information and center state information of the current turning circle according to the historical navigation positioning information set, the current navigation positioning information set and the preset lane width; when the center state information meets the stability condition, classify the relative positions of other vehicles relative to the own vehicle according to the center position information and other position information to obtain the position classification result. Through the technical solution of the present invention, there is no need to rely on the roadside terminal to provide data, relying on the navigation positioning information of the own vehicle, to classify the positions of other vehicles at the bend, thereby improving the pertinence of the scene and the accuracy of the classification.

[0113] Furthermore, the information determination module 42 includes:

[0114] A first determining unit, configured to determine a feature point set according to the historical navigation positioning information set and the current navigation positioning information set;

[0115] A second determining unit, configured to determine, based on the feature point set, a movement distance of the center of the circle of the historical collection period relative to the center of the circle of the current collection period;

[0116] a third determining unit, configured to determine that the center state information of the turning circle is in an unstable state if the center moving distance is greater than or equal to the product of the preset lane width and the set multiple, and clear the feature point set;

[0117] A fourth determining unit, configured to update the feature point set to obtain an updated target feature point set;

[0118] The fifth determining unit is used to determine the circle center state information and the circle center position information according to the circle center moving distance, the target feature point set and the preset lane width.

[0119] The feature point set includes a historical sub-feature point set and a current sub-feature point set, and the fourth determining unit is specifically used for:

[0120] If the number of current feature points in the current sub-feature point set is less than the preset number, then when the number of current feature points is zero, or when the number of current feature points is not zero and the heading angle difference between the first current feature point in the current sub-feature point set and the first historical feature point in the historical sub-feature point set is greater than the set angle, the first historical feature point is added to the current feature point set to obtain an updated target feature point set;

[0121] Otherwise, if the heading angle difference between the latest feature point in the current sub-feature point set and the first historical feature point is greater than the set angle, the first historical feature point and the oldest feature point in the current sub-feature point set are replaced, and the feature points of the replaced current feature point set are sorted in the update order to obtain the target feature point set.

[0122] Wherein, the fifth determining unit is specifically used for:

[0123] Determining the center position information of the circle according to the target feature point set;

[0124] If the circle center moving distance is less than the preset lane width, the stable state is used as the circle center state information;

[0125] Otherwise, the gradually stable state is used as the circle center state information.

[0126] Furthermore, the result determination module 43 includes:

[0127] a sixth determining unit, configured to determine a relative angle of the other vehicle with respect to the own vehicle according to the circle center position information and the other position information;

[0128] a seventh determining unit, configured to regard the other vehicle as an influencing vehicle if the relative angle satisfies a preset filtering condition;

[0129] an eighth determination unit, configured to otherwise regard the other vehicle as an irrelevant vehicle;

[0130] a ninth determining unit, configured to determine relative distance information according to a relative angle of the influencing vehicle relative to the own vehicle and the circle center position information;

[0131] The tenth determining unit is used to determine the position classification result of the influencing vehicle according to the relative distance information.

[0132] Wherein, the ninth determining unit includes:

[0133] A first determination subunit is used to extract the center angle of the circle from the relative angle of the influencing vehicle relative to the own vehicle, and the center position and turning radius from the center position information;

[0134] A second determining subunit, configured to determine a longitudinal distance interval of the influencing vehicle relative to the own vehicle according to the center angle of the circle and the turning radius;

[0135] A third determining subunit is used to determine a lateral distance interval of the influencing vehicle relative to the own vehicle according to other position information of the influencing vehicle and the center position of the circle;

[0136] The fourth determining subunit is configured to use the longitudinal distance interval and the transverse distance interval as the relative distance information.

[0137] Wherein, the third determining subunit is specifically used for:

[0138] Determine first distance information from the influencing vehicle to the center of the circle based on other position information of the influencing vehicle;

[0139] Determine second distance information from the own vehicle to the center position of the circle;

[0140] A lateral distance interval of the influencing vehicle relative to the own vehicle is determined according to the first distance information and the first distance information.

[0141] The above-mentioned product can execute the location classification method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0142] Embodiment 4

[0143] Figure 5 A schematic diagram of the structure of a vehicle provided in the fourth embodiment of the present invention is shown in FIG. Figure 5 As shown, the vehicle includes a controller 51, a memory 52, an input device 53 and an output device 54; the number of controllers 51 in the vehicle can be one or more. Figure 5 A controller 51 is taken as an example; the controller 51, the memory 52, the input device 53 and the output device 54 in the vehicle can be connected by a bus or other means. Figure 5 The example of connecting through bus is taken in the following.

[0144] The memory 52 is a computer-readable storage medium that can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the location classification method in the embodiment of the present invention (for example, the information acquisition module 41, the information determination module 42 and the result determination module 43 in the location classification device). The controller 51 executes various functional applications and data processing of the vehicle by running the software programs, instructions and modules stored in the memory 52, that is, implements the above-mentioned location classification method.

[0145] The memory 52 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the terminal, etc. In addition, the memory 52 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some examples, the memory 52 may further include a memory remotely arranged relative to the controller 51, and these remote memories may be connected to the vehicle via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0146] The input device 53 may be used to receive input digital or character information, and to generate key signal input related to user settings and function control of the cloud platform. The output device 54 may include a display device such as a display screen.

[0147] Embodiment 5

[0148] Embodiment 5 of the present invention further provides a storage medium comprising computer executable instructions, wherein the computer executable instructions are used to perform a location classification method when executed by a computer processor.

[0149] When the current driving condition meets the preset driving condition, the historical navigation positioning information set of the historical collection period, the current navigation positioning information set of the current collection period, other position information of other vehicles and the preset lane width of the lane are obtained;

[0150] Determine the center position information and center state information of the current turning circle according to the historical navigation positioning information set, the current navigation positioning information set and the preset lane width;

[0151] When the circle center state information satisfies a stability condition, the relative positions of the other vehicles with respect to the own vehicle are classified according to the circle center position information and the other position information to obtain a position classification result.

[0152] Through the above description of the implementation methods, the technicians in the relevant field can clearly understand that the present invention can be implemented by means of software and necessary general hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0153] It is worth noting that in the embodiment of the above-mentioned position classification device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0154] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A location classification method, characterized in that: include: When the current driving condition meets the preset driving condition, the historical navigation positioning information set of the historical collection period, the current navigation positioning information set of the current collection period, other position information of other vehicles and the preset lane width of the lane are obtained; Determine the center position information and center state information of the current turning circle according to the historical navigation positioning information set, the current navigation positioning information set and the preset lane width; When the circle center state information satisfies a stability condition, the relative positions of the other vehicles with respect to the own vehicle are classified according to the circle center position information and the other position information to obtain a position classification result.

2. The method according to claim 1, characterized in that The determining, based on the historical navigation positioning information set, the current navigation positioning information set and the preset lane width, the center position information and the center state information of the current turning circle includes: Determining a feature point set according to the historical navigation positioning information set and the current navigation positioning information set; Determine, based on the feature point set, a movement distance of the center of the circle of the historical collection period relative to the center of the circle of the current collection period; If the circle center moving distance is greater than or equal to the product of the preset lane width and the set multiple, the circle center state information of the turning circle is determined to be in an unstable state, and the feature point set is cleared; Otherwise, the feature point set is updated to obtain an updated target feature point set; The circle center state information and circle center position information are determined according to the circle center moving distance, the target feature point set and the preset lane width.

3. The method according to claim 2, characterized in that The feature point set includes a historical sub-feature point set and a current sub-feature point set, and the feature point set is updated to obtain an updated target feature point set, including: If the number of current feature points in the current sub-feature point set is less than the preset number, then when the number of current feature points is zero, or when the number of current feature points is not zero and the heading angle difference between the first current feature point in the current sub-feature point set and the first historical feature point in the historical sub-feature point set is greater than the set angle, the first historical feature point is added to the current feature point set to obtain an updated target feature point set; Otherwise, if the heading angle difference between the latest feature point in the current sub-feature point set and the first historical feature point is greater than the set angle, the first historical feature point and the oldest feature point in the current sub-feature point set are replaced, and the feature points of the replaced current feature point set are sorted in the update order to obtain the target feature point set.

4. The method according to claim 2, characterized in that: The determining the circle center state information and circle center position information according to the circle center moving distance, the target feature point set and the preset lane width includes: Determining the center position information of the circle according to the target feature point set; If the circle center moving distance is less than the preset lane width, the stable state is used as the circle center state information; Otherwise, the gradually stable state is used as the circle center state information.

5. The method according to claim 1, characterized in that The step of classifying the relative positions of the other vehicles relative to the own vehicle according to the circle center position information and the other position information to obtain a position classification result includes: Determining the relative angle of the other vehicle with respect to the own vehicle according to the circle center position information and the other position information; If the relative angle meets the preset filtering condition, the other vehicle is regarded as an influencing vehicle; Otherwise, the other vehicles are regarded as irrelevant vehicles; Determining relative distance information according to the relative angle of the influencing vehicle relative to the own vehicle and the circle center position information; The position classification result of the influencing vehicle is determined according to the relative distance information.

6. The method according to claim 5, characterized in that The determining of the relative distance information according to the relative angle of the influencing vehicle relative to the own vehicle and the circle center position information includes: Extracting the center angle of the circle from the relative angle of the influencing vehicle relative to the own vehicle, and the center position and turning radius from the center position information; Determining a longitudinal distance interval of the influencing vehicle relative to the own vehicle according to the center angle of the circle and the turning radius; Determine a lateral distance interval of the influencing vehicle relative to the own vehicle according to other position information of the influencing vehicle and the center position of the circle; The longitudinal distance interval and the lateral distance interval are used as the relative distance information.

7. The method according to claim 6, characterized in that The determining, based on other position information of the influencing vehicle and the center position of the circle, a lateral distance interval of the influencing vehicle relative to the own vehicle includes: Determine first distance information from the influencing vehicle to the center of the circle based on other position information of the influencing vehicle; Determine second distance information from the own vehicle to the center position of the circle; A lateral distance interval of the influencing vehicle relative to the own vehicle is determined according to the first distance information and the first distance information.

8. A position classification device, characterized in that: include: An information acquisition module, used to acquire a historical navigation positioning information set of a historical collection period, a current navigation positioning information set of a current collection period, other position information of other vehicles, and a preset lane width of the lane in which the vehicle is located when the current driving condition meets the preset driving condition; An information determination module, used to determine the center position information and center state information of the current turning circle center according to the historical navigation positioning information set, the current navigation positioning information set and the preset lane width; The result determination module is used to classify the relative positions of the other vehicles with respect to the own vehicle according to the center position information and the other position information when the center state meets the stability condition, so as to obtain a position classification result.

9. A vehicle, characterized in that: The vehicle comprises: at least one controller; and A memory in communication with the at least one controller; wherein, The memory stores a computer program executable by the at least one controller, and the computer program is executed by the at least one controller to enable the at least one controller to perform the location classification method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a controller to implement the position classification method according to any one of claims 1 to 7 when executed.

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