Vehicle route point determination method, device, vehicle, and storage medium

Abstract

This application discloses a vehicle path point determination method, device, vehicle, and storage medium. The method includes acquiring an initial vehicle path point sequence for a vehicle in a geodetic coordinate system, transforming the initial vehicle path point sequence into an intermediate vehicle path point sequence in a coordinate system that has an origin at the start point of the vehicle path, determining a slope of each point in the intermediate vehicle path point sequence, and transforming the intermediate vehicle path point sequence into a target vehicle path point sequence in a dead reckoning (DR) coordinate system based on the slope of each point. The method converts the initial vehicle path point sequence for the vehicle in the geodetic coordinate system into an intermediate vehicle path point sequence in a coordinate system that has an origin at the start point of the vehicle path, and determines the slope of each point in the intermediate vehicle path point sequence to transform the intermediate vehicle path point sequence into a target vehicle path point sequence in the DR coordinate system, thereby easily and accurately obtaining the coordinates of the vehicle in the DR coordinate system.

Description

[Technical Field]

[0001] TECHNICAL FIELD The present application relates to the field of car navigation technology, and more particularly to a vehicle route point determination method, device, vehicle, and storage medium.

[0002] This application claims priority to a Chinese patent application bearing application number 202310803029.2, filed with the State Intellectual Property Office of China on June 30, 2023, the entire contents of which are incorporated herein by reference. [Background technology]

[0003] Dead reckoning (DR) is a method for estimating an object's next time position by measuring its distance and direction, assuming that its current time position is known. DR calibration is the process of optimizing the algorithm's internal parameters to achieve optimal performance and thereby reducing the error between the DR-estimated position and the vehicle's actual motion position. The key to DR calibration is mapping the measured actual motion position of the vehicle to the DR coordinate system. Currently, this process is mainly achieved using an automation dynamic motion analyzer (ADMA) or distance measurement equipment. These methods have drawbacks, including high cost, complicated measurement conversion processes, and low efficiency.

[0004] Therefore, how to easily obtain the coordinates of the vehicle in the DR coordinate system is a related art issue. Summary of the Invention [Problem to be solved by the invention]

[0005] The present application provides a vehicle path point determination method, device, vehicle, and storage medium for solving the problem in the related art that the actual motion position of a vehicle cannot be accurately mapped to a DR coordinate system. [Means for solving the problem]

[0006] According to one aspect of the present application, obtaining an initial vehicle path point sequence for the vehicle in a geodetic coordinate system; transforming the initial vehicle path point sequence into an intermediate vehicle path point sequence in a coordinate system having an origin at a start point of the vehicle path; determining a slope for each point in the sequence of intermediate vehicle path points; and transforming the sequence of intermediate vehicle path points into a sequence of target vehicle path points in a dead reckoning (DR) coordinate system based on the slope of each point. A method for determining vehicle path points is provided.

[0007] According to another aspect of the present application, an acquisition module for acquiring an initial vehicle path point sequence of the vehicle in a geodetic coordinate system; a first transformation module for transforming the initial vehicle path point sequence into an intermediate vehicle path point sequence in a coordinate system having an origin at a start point of the vehicle path; a determination module for determining a slope of each point in the sequence of intermediate vehicle path points; a second transformation module for transforming the sequence of intermediate vehicle path points into a sequence of target vehicle path points in a dead reckoning (DR) coordinate system based on the slope of each point; A vehicle route point determination device is provided.

[0008] According to another aspect of the present application, at least one processor; a memory communicatively coupled to the at least one processor; The memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor can perform a vehicle path point determination method described in any of the embodiments of the present application. Provide vehicles.

[0009] According to another aspect of the present application, a computer program for executing a method for determining vehicle path points according to any of the embodiments of the present application; A computer-readable storage medium is provided. [Effects of the Invention]

[0010] In a vehicle path point determination method, device, vehicle, and storage medium according to embodiments of the present application, the method includes: acquiring an initial vehicle path point sequence for a vehicle in a geodetic coordinate system; transforming the initial vehicle path point sequence into an intermediate vehicle path point sequence in a coordinate system having an origin at the start point of the vehicle path; determining a gradient of each point in the intermediate vehicle path point sequence; and transforming the intermediate vehicle path point sequence into a target vehicle path point sequence in a dead reckoning (DR) coordinate system based on the gradient of each point. This method converts the initial vehicle path point sequence for a vehicle in the geodetic coordinate system into an intermediate vehicle path point sequence in a coordinate system having an origin at the start point of the vehicle path, and determines a gradient of each point in the intermediate vehicle path point sequence to transform the intermediate vehicle path point sequence into a target vehicle path point sequence in the DR coordinate system. This makes it possible to easily and accurately obtain the coordinates of the vehicle in the DR coordinate system, thereby solving the problem in related art that the actual motion position of a vehicle cannot be accurately mapped to the DR coordinate system. [Brief explanation of the drawings]

[0011] In order to more clearly explain the technical solutions in the embodiments of the present application, the following will briefly describe the drawings that need to be used in the description of the embodiments. The drawings in the following description are only some embodiments of the present application, and it is obvious that those skilled in the art can obtain other drawings based on these drawings without creative work. [Figure 1] 1 is a flowchart of a vehicle path point determination method according to a first embodiment of the present invention. [Figure 2] 1 is a schematic diagram of a vehicle path in a geodetic coordinate system according to an embodiment of the present application; [Figure 3]10 is a flowchart of a vehicle path point determination method according to a second embodiment of the present invention. [Figure 4] FIG. 1 is a schematic diagram of a vehicle route according to an embodiment of the present application. [Figure 5] FIG. 2 is a schematic diagram of another vehicle route according to an embodiment of the present application. [Figure 6] 10 is a flowchart of a vehicle path point determination method according to a third embodiment of the present invention. [Figure 7] FIG. 2 is a schematic diagram of a vehicle path in a DR coordinate system according to an embodiment of the present application. [Figure 8] FIG. 10 is a structural schematic diagram of a vehicle route point determination device according to a fourth embodiment of the present invention. [Figure 9] FIG. 10 is a structural schematic diagram of a vehicle according to a fifth embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0012] In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. However, it should be understood that the described embodiments are only a portion of the embodiments of the present application, and are not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without any creative effort shall fall within the scope of protection of the present application. It should be understood that the steps described in the method embodiments of the present application can be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the execution of the steps described. The scope of the present application is not limited in this respect.

[0013] As used herein, the term "including" and variations thereof are open-ended, meaning "including, but not limited to." The term "based on" means "based at least in part on." The term "in one embodiment" refers to "at least one embodiment," the term "in another embodiment" refers to "at least one other embodiment," and the term "in some embodiments" refers to "at least some embodiments." Definitions of other terms are provided below.

[0014] In addition, terms such as "first," "second," and the like in the present specification, claims, and drawings are used to distinguish between similar objects and are not intended to describe a particular order or priority. It should be understood that the data used in this manner may be interchanged as appropriate, so that the embodiments of the present invention described herein may be practiced in orders other than those illustrated or described herein. Furthermore, the terms "comprise," "have," and any variations thereof are intended to be non-exclusive inclusive. For example, a process, method, system, product, or device comprising a series of steps or units is not necessarily limited to the explicitly recited steps or units, but may include other steps or units that are not explicitly recited or that are inherent to the process, method, product, or device.

[0015] It should be understood by those skilled in the art that the modifications "one" and "multiple" in this application are exemplary and not limiting, and should be understood as "one or more" unless the context clearly indicates otherwise.

[0016] The names of messages or information sent and received between devices in the embodiments of this application are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0017] Example 1 FIG. 1 is a flowchart of a vehicle path point determination method according to a first embodiment of the present application. The method can be applied to determining the coordinates of a vehicle driving path in a DR coordinate system, and can be implemented in software and / or hardware, and can be executed by a vehicle path point determination device that is typically integrated into a vehicle. In this embodiment, the vehicle includes, but is not limited to, a general-purpose vehicle, a special-purpose vehicle, a special-purpose vehicle, etc.

[0018] As shown in FIG. 1, the vehicle path point determination method according to the first embodiment of the present application includes the following steps:

[0019] S110, obtain an initial vehicle path point sequence of the vehicle in the geodetic coordinate system.

[0020] Here, the vehicle may be a vehicle currently in motion. The geodetic coordinate system is a coordinate system constructed during geodesy using a reference ellipsoid as a reference plane. The position of the contact point is indicated by geodetic longitude, geodetic latitude, and geodetic altitude. The initial vehicle path point sequence may be a point sequence of a path along which the vehicle will travel in the geodetic coordinate system.

[0021] In this embodiment, one group of initial vehicle path point sequences of the path along which the vehicle travels in the geodetic coordinate system can be obtained, and there is no limitation on how to obtain the initial vehicle path point sequence.

[0022] S120, converting the initial vehicle path point sequence into an intermediate vehicle path point sequence in a coordinate system with the starting point of the vehicle path as the origin.

[0023] Here, the vehicle path may be a path along which the vehicle travels, may be acquired while the vehicle is traveling, or may be acquired when the vehicle is stationary, but this embodiment is not limited to these. In this embodiment, the vehicle path is the distance traveled by the vehicle in a straight line. The sequence of intermediate vehicle path points may be a group of data points in a coordinate system with the start point of the vehicle path as the origin. The coordinate system to which the intermediate vehicle path points belong may have a horizontal axis oriented due east and a vertical axis oriented due north. It should be understood that the coordinate system to which the intermediate vehicle path points belong may have a horizontal axis oriented due west and a vertical axis oriented due south, but this embodiment is not limited to this.

[0024] In this embodiment, after projecting and translating each point in the initial vehicle path point sequence, a group of intermediate vehicle path point sequences can be obtained, in which the origin of the coordinate system to which it belongs becomes the starting point of the vehicle path.

[0025] S130, determining the slope of each point in the sequence of intermediate vehicle path points.

[0026] Here, the inclination is an amount that indicates how much the tangent to a straight line or curve is inclined with respect to the horizontal axis.

[0027] In this embodiment, the slope of each point in the sequence of intermediate vehicle path points can be determined by a slope calculation method, but the method for calculating the slope is not limited thereto. For example, the slope of a point can be determined by calculating the slope between two points adjacent to the point.

[0028] S140, converting the sequence of intermediate vehicle path points into a sequence of target vehicle path points in the dead reckoning DR coordinate system based on the gradient of each point.

[0029] Here, the DR coordinate system may be a coordinate system with the starting point of the vehicle path as its origin. The DR coordinate system may have a horizontal axis direction that is an extension line from the center of the rear axle of the vehicle to the right at the start of the vehicle path, and a vertical axis direction that is a direction toward the front of the vehicle at the start of the vehicle path. The target vehicle path point sequence may be a group of coordinates of the vehicle path in the DR coordinate system.

[0030] In this embodiment, the angle between the intermediate vehicle path point sequence and the DR coordinate system is calculated based on the slope of the points in the intermediate vehicle path point sequence, and the intermediate vehicle path point sequence can be converted into a target vehicle path point sequence in the DR coordinate system based on the angle.

[0031] A vehicle path point determination method according to a first embodiment of the present invention includes the steps of: acquiring an initial vehicle path point sequence for a vehicle in a geodetic coordinate system; transforming the initial vehicle path point sequence into an intermediate vehicle path point sequence in a coordinate system having an origin at the start point of the vehicle path; determining a gradient of each point in the intermediate vehicle path point sequence; and transforming the intermediate vehicle path point sequence into a target vehicle path point sequence in a dead reckoning (DR) coordinate system based on the gradient of each point. This method converts the initial vehicle path point sequence for a vehicle in the geodetic coordinate system into an intermediate vehicle path point sequence in a coordinate system having an origin at the start point of the vehicle path, and determines a gradient of each point in the intermediate vehicle path point sequence to transform the intermediate vehicle path point sequence into a target vehicle path point sequence in the DR coordinate system. This makes it possible to easily and accurately obtain the coordinates of the vehicle in the DR coordinate system, thereby solving the problem in related art that the actual motion position of the vehicle cannot be accurately mapped to the DR coordinate system.

[0032] Based on the above embodiment, a modified embodiment of the above embodiment is proposed. For simplicity, only the differences between the modified embodiment and the above embodiment are described.

[0033] In one embodiment, obtaining an initial vehicle path point sequence for a vehicle in a geodetic coordinate system includes: Determining, by an in-vehicle integrated navigation system, latitude and longitude coordinates and a yaw angle for a distance traveled by the vehicle; and obtaining a group of initial vehicle path points based on the longitude and latitude coordinates and the yaw angle.

[0034] Here, the in-vehicle integrated navigation system may be an integrated navigation system that uses various technologies to position the vehicle. For example, a global navigation satellite system (GNSS), inertial navigation, visual navigation, laser distance measurement, sonar detection, odometry, etc. may all be components of the integrated navigation system. In this embodiment, the components of the in-vehicle integrated navigation system are not limited. For example, this embodiment may position the vehicle integrally using GNSS and inertial navigation. The latitude and longitude coordinates may be the longitude and latitude coordinates of the vehicle in a geodetic coordinate system. The yaw angle may be the angle between the actual direction of movement of the vehicle and the horizontal axis in the geodetic coordinate system.

[0035] In this embodiment, the steering wheel of the vehicle is positioned at 0°, the vehicle is driven straight, and then the vehicle is positioned integrally by the on-board integrated navigation system, and each data point p i is the latitude and longitude coordinate of the vehicle in the geodetic coordinate system (x i ,y i ) and yaw angle i A group of initial vehicle path points {p n 2 is a schematic diagram of a vehicle path in a geodetic coordinate system according to an embodiment of the present application. As shown in FIG. 2, the vehicle travels a certain distance from the starting point of the vehicle path and then begins to move freely. The points in the initial vehicle path point sequence recorded in this embodiment are points on the path when the vehicle travels straight. Here, the abscissa is the longitude coordinate and the ordinate is the latitude coordinate.

[0036] In this embodiment, the vehicle coordinates in the geodetic coordinate system can be determined more accurately by the in-vehicle integrated navigation system, and the accuracy of positioning by coordinates is improved.

[0037] Example 2 3 is a flowchart of a vehicle path point determination method according to a second embodiment of the present invention, which is an optimization based on the above-described embodiments. For details not described in detail in this embodiment, please refer to the first embodiment.

[0038] As shown in FIG. 3, the vehicle path point determination method according to the second embodiment of the present application includes the following steps:

[0039] S210, obtain an initial vehicle path point sequence of the vehicle in the geodetic coordinate system.

[0040] S220, projecting the initial vehicle path point sequence to obtain a first vehicle path point sequence.

[0041] Here, the first vehicle path point sequence may be a data point sequence obtained by projecting each latitude and longitude coordinate of the initial vehicle path point sequence. The method for projecting the initial vehicle path point sequence may be UTM projection or another projection method, and is not limited in this embodiment.

[0042] In this embodiment, the initial vehicle path point sequence {p n} latitude and longitude coordinates of each point (x i ,y i ) and project the coordinates of each point to (x i 1 ,y i 1 ) the first vehicle path point sequence {p n 1 4 is a schematic diagram of a vehicle path according to an embodiment of the present application, where the abscissa indicates the distance from a point to the central meridian of the longitude domain, and the ordinate indicates the distance from a point to the equator. The vehicle path in FIG. 4 is a first vehicle path point sequence.

[0043] In one embodiment, the first sequence of vehicle path points belongs to a coordinate system in which the abscissa is the distance from the point to the central meridian of a longitude domain and the ordinate is the distance from the point to the equator.

[0044] Here, the central meridian of a longitude domain is the central line of longitude of the projection system. In a projection coordinate system, it is generally used as the reference point for the origin of the X axis. The equator is the longest circumference of the locus of points on the Earth's surface as it rotates.

[0045] In this embodiment, the first vehicle path point sequence {p n 1 The coordinate system to which} belongs is the abscissa x i 1 is the distance from the point to the central meridian in the longitude domain, and the ordinate y i 1 is the distance from the point to the equator.

[0046] S230: translating the first vehicle path point sequence to obtain a second vehicle path point sequence in a coordinate system with the starting point of the vehicle path as the origin, and setting the second vehicle path point sequence as an intermediate vehicle path point sequence.

[0047] Here, the second vehicle path point sequence may be the first vehicle path point sequence after translation.

[0048] In this embodiment, the first vehicle path point sequence {p n 1} to obtain a second vehicle path point sequence {p n 2} and obtain the second vehicle path point sequence {p n 2} is the intermediate vehicle path point sequence {p n 2}. The intermediate vehicle path point sequence {p n 2 The coordinates of the points in the i 2 ,y i 2 ), and the origin is (x1 2 ,y1 2 ) For example, the specific operations for translation are as follows:

number

[0049] FIG. 5 is a schematic diagram of another vehicle path according to an embodiment of the present application, and as shown in FIG. 5, the direction of the abscissa is due east and the direction of the ordinate is due north.

[0050] S240, determining the slope of each point in the sequence of intermediate vehicle path points.

[0051] S250, converting the sequence of intermediate vehicle path points into a sequence of target vehicle path points in the dead reckoning DR coordinate system based on the gradient of each point.

[0052] The vehicle path point determination method according to the second embodiment of the present application further projects and translates the initial vehicle path point sequence to obtain an intermediate vehicle path point sequence, and determines the gradient of each point in the intermediate vehicle path point sequence, thereby converting the intermediate vehicle path point sequence into a target vehicle path point sequence in the DR coordinate system. This makes it possible to easily and accurately obtain the coordinates of the vehicle in the DR coordinate system, thereby solving the problem in related technologies that the actual motion position of the vehicle cannot be accurately mapped into the DR coordinate system.

[0053] In one embodiment, each point in the sequence of intermediate vehicle path points includes a yaw angle, and accordingly, before determining the tilt of each point in the sequence of intermediate vehicle path points, The method further includes removing points in the sequence of intermediate vehicle path points, the difference between the yaw angle of each point in the sequence of intermediate vehicle path points and the yaw angle of the starting point of the vehicle path being greater than a predetermined yaw angle, to obtain a sequence of selected intermediate vehicle path points.

[0054] Here, the predetermined yaw angle may be a difference between predetermined yaw angles or may be set according to the actual situation. For example, the predetermined yaw angle may take any value between 0° and 0.1°.

[0055] In this embodiment, the intermediate vehicle path point sequence {p n 2} and the starting point of the vehicle path (i.e., the origin p1 2) and the yaw angle yaw1 is greater than a predetermined yaw angle (for example, 0.05°). n 2 The indices of these points in} are written as j.

[0056] This embodiment filters out points in the intermediate vehicle path point sequence whose yaw angle is too large compared to the yaw angle of the origin, thereby making the resulting average slope more accurate.

[0057] In one embodiment, determining the slope of each point in the sequence of intermediate vehicle path points comprises: determining, for each point in the sequence of intermediate vehicle path points, the slopes of two points adjacent to said point; determining the determined slope as the slope of said point.

[0058] In this embodiment, when determining the gradient of each point in the sequence of intermediate vehicle path points, the gradient of each point can be determined as the gradient of the point by taking the gradients of the two points adjacent to that point. j The method for calculating is

number

[0059] Example 3 6 is a flowchart of a vehicle path point determination method according to a third embodiment of the present invention, which is an optimization based on the above-described embodiments. For details not described in detail in this embodiment, please refer to the first embodiment.

[0060] As shown in FIG. 6, the vehicle path point determination method according to the third embodiment of the present application includes the following steps:

[0061] S310, obtain an initial vehicle path point sequence of the vehicle in the geodetic coordinate system.

[0062] S320, converting the initial vehicle path point sequence into an intermediate vehicle path point sequence in a coordinate system with the starting point of the vehicle path as the origin.

[0063] S330, determining the slope of each point in the sequence of intermediate vehicle path points.

[0064] S340, ordering the slope of each point in the sequence of intermediate vehicle path points.

[0065] In this embodiment, after obtaining the slope of each point in the sequence of intermediate vehicle path points, the slopes of all points can be ordered, and the ordering method may be ordering in descending order of slope or descending order of slope.

[0066] S350, a predetermined number of gradients are selected from the ordered gradients according to a predetermined rule.

[0067] Here, the predetermined rule may be a rule regarding the selection of a slope, but is not limited to this in the present embodiment. For example, the predetermined rule may be a rule for selecting a portion of data from ordered slopes, or a rule for selecting the most frequent value from all slopes. The value of the predetermined number may be set according to the actual situation, but is not limited to this in the present embodiment.

[0068] In this embodiment, a predetermined number of slopes can be selected from the ordered slopes according to a predetermined rule. For example, this embodiment can select 50% of the data in the ordered slopes.

[0069] S360, calculating an average slope of the predetermined number of slopes.

[0070] Here, the average slope may be the average value of a predetermined number of slopes.

[0071] In this embodiment, after obtaining a predetermined number of slopes, an average slope k of the predetermined number of slopes can be calculated.

[0072] S370, transforming the sequence of intermediate vehicle path points into a sequence of target vehicle path points in the DR coordinate system based on the average slope.

[0073] In this embodiment, based on the average slope, the angle that the points in the intermediate vehicle path point sequence make with the coordinate axis in the coordinate system to which they belong is determined, and based on the angle, the intermediate vehicle path point sequence can be converted into a target vehicle path point sequence in the DR coordinate system.

[0074] The vehicle path point determination method according to the third embodiment of the present application further determines the gradient of each point in the sequence of intermediate vehicle path points, selects a predetermined number of gradients from the ordered gradients in accordance with a predetermined rule, calculates an average gradient, and transforms the sequence of intermediate vehicle path points into a sequence of target vehicle path points in the DR coordinate system based on the average gradient, thereby easily and accurately obtaining the coordinates of the vehicle in the DR coordinate system, thereby solving the problem in related technologies that the actual motion position of the vehicle cannot be accurately mapped into the DR coordinate system.

[0075] In one embodiment, transforming the sequence of intermediate vehicle path points into a sequence of target vehicle path points in a DR coordinate system based on the average slope includes: calculating a first angle in a coordinate system to which the sequence of intermediate vehicle path points belongs based on the average slope; and transforming the sequence of intermediate vehicle path points into a sequence of target vehicle path points in a DR coordinate system based on the first angle and a transformation formula.

[0076] Here, the first angle may be the angle between a line to which the point in the intermediate vehicle path point sequence belongs and a coordinate axis, or the angle between the line and the vertical axis, or the angle between the line and the horizontal axis, and is not limited to these in this embodiment. The conversion formula may be a formula for converting the intermediate vehicle path point sequence into the target vehicle path point sequence in the DR coordinate system.

[0077] In this embodiment, the first angle θ can be calculated from the average tilt k, for example, as follows:

number

[0078] In one embodiment, the transformation formula includes the following formula:

number

[0079] where i is a positive integer, θ is the first angle, and (x i 2 ,y i 2 ) is the coordinate of a point in the intermediate vehicle path point sequence, and (x i 3 ,y i 3 ) are the coordinates of a point in the target vehicle path point sequence.

[0080] In this embodiment, the coordinates of points in the intermediate vehicle path point sequence are converted into the coordinates (x i 3 ,y i 3 ) can be transformed into. For example, FIG. 7 is a schematic diagram of a vehicle path in the DR coordinate system according to an embodiment of the present application, and as shown in FIG. 7, the actual motion trajectory of the vehicle is mapped into the DR coordinate system.

[0081] In this embodiment, an on-board integrated navigation device is used to collect vehicle route points, and the coordinates in the geodetic coordinate system output from the on-board integrated navigation device are then UTM projected, translated, filtered, and rotated to be converted into coordinates in the DR coordinate system.Compared to the traditional method using ADMA or distance measurement device, the method of this embodiment has the advantages of low equipment cost, easy installation, high coordinate system conversion accuracy, fast conversion speed, and a large tolerance for installation errors of the integrated navigation device.

[0082] Example 4 FIG. 8 is a structural schematic diagram of a vehicle path point determination device according to a fourth embodiment of the present invention. This device can be realized by software and / or hardware and is usually integrated into a vehicle. This device can be applied to determining the coordinates of a vehicle driving path in the DR coordinate system.

[0083] As shown in FIG. 8, the device comprises: an acquisition module 410 for acquiring an initial vehicle path point sequence of the vehicle in a geodetic coordinate system; a first transformation module 420 for transforming the initial vehicle path point sequence into an intermediate vehicle path point sequence in a coordinate system having an origin at the start point of the vehicle path; a determination module 430 for determining a slope of each point in the sequence of intermediate vehicle path points; and a second transformation module 440 for transforming the sequence of intermediate vehicle path points into a sequence of target vehicle path points in a dead reckoning DR coordinate system based on the slope of each point.

[0084]

[0019] A fourth embodiment provides a vehicle path point determination device including: an acquisition module for acquiring an initial vehicle path point sequence in a geodetic coordinate system; a first transformation module for transforming the initial vehicle path point sequence into an intermediate vehicle path point sequence in a coordinate system having an origin at the start point of the vehicle path; a determination module for determining a gradient of each point in the intermediate vehicle path point sequence; and a second transformation module for transforming the intermediate vehicle path point sequence into a target vehicle path point sequence in a dead reckoning (DR) coordinate system based on the gradient of each point. By transforming the initial vehicle path point sequence in the geodetic coordinate system into an intermediate vehicle path point sequence in a coordinate system having an origin at the start point of the vehicle path and determining the gradient of each point in the intermediate vehicle path point sequence, the intermediate vehicle path point sequence can be transformed into a target vehicle path point sequence in the DR coordinate system, thereby easily and accurately obtaining the coordinates of the vehicle in the DR coordinate system. This solves the problem in related art that the actual motion position of the vehicle cannot be accurately mapped to the DR coordinate system.

[0085] Furthermore, the first conversion module 420 projecting the initial vehicle path point sequence to obtain a first vehicle path point sequence; The method includes translating the first vehicle path point sequence to obtain a second vehicle path point sequence in a coordinate system having an origin at the start point of the vehicle path, and setting the second vehicle path point sequence as an intermediate vehicle path point sequence.

[0086] Furthermore, the first vehicle path point sequence belongs to a coordinate system in which the abscissa is the distance from a point to the central meridian of a longitude domain, and the ordinate is the distance from a point to the equator.

[0087] Furthermore, each point in the sequence of intermediate vehicle path points includes a yaw angle, and accordingly, the determination module 430 determines: The method further includes removing points in the sequence of intermediate vehicle path points, the difference between the yaw angle of each point in the sequence of intermediate vehicle path points and the yaw angle of the starting point of the vehicle path being greater than a predetermined yaw angle, to obtain a sequence of selected intermediate vehicle path points.

[0088] Furthermore, the decision module 430 determining, for each point in the sequence of intermediate vehicle path points, the slopes of two points adjacent to said point; determining the determined slope as the slope of said point.

[0089] Furthermore, the second conversion module 440 ordering the slope of each point in the sequence of intermediate vehicle path points; selecting a predetermined number of gradients from the ordered gradients according to a predetermined rule; calculating an average slope of the predetermined number of slopes; and transforming the sequence of intermediate vehicle path points into a sequence of target vehicle path points in a DR coordinate system based on the average slope.

[0090] Furthermore, transforming the sequence of intermediate vehicle path points into a sequence of target vehicle path points in a DR coordinate system based on the average slope includes: calculating a first angle in a coordinate system to which the sequence of intermediate vehicle path points belongs based on the average slope; and transforming the sequence of intermediate vehicle path points into a sequence of target vehicle path points in a DR coordinate system based on the first angle and a transformation formula.

[0091] Furthermore, the conversion formula includes the following formula:

number

[0092] where i is a positive integer, θ is the first angle, and (x i 2 ,y i 2 ) is the coordinate of a point in the intermediate vehicle path point sequence, and (x i 3 ,y i 3 ) are the coordinates of a point in the target vehicle path point sequence.

[0093] Furthermore, the acquisition module 410 Determining, by an in-vehicle integrated navigation system, latitude and longitude coordinates and a yaw angle for a distance traveled by the vehicle; and obtaining a group of initial vehicle path points based on the longitude and latitude coordinates and the yaw angle.

[0094] The vehicle path point determination device can execute the vehicle path point determination method according to any embodiment of the present application, and has corresponding functional modules and beneficial effects for executing the method.

[0095] Example 5 9 shows a structural schematic diagram of a vehicle 10 that can be used to implement embodiments of the present application. The components, their connections and relationships, and their functions shown herein are exemplary only and are not intended to limit the implementation of the present application as described and / or claimed herein.

[0096] 9, the vehicle 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate operations and processes based on the computer programs stored in the read-only memory (ROM) 12 or loaded from a storage unit 18 into the random access memory (RAM) 13. The RAM 13 may store various programs and data necessary for the operation of the vehicle 10. The processor 11, the ROM 12, and the RAM 13 are connected to one another via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0097] Multiple components in vehicle 10 are connected to I / O interface 15, including input units 16 such as a keyboard, mouse, etc., output units 17 such as various types of displays, speakers, etc., storage units 18 such as magnetic disks, optical disks, etc., and communication units 19 such as a network card, modem, wireless communication transceiver, etc. The communication units 19 enable vehicle 10 to exchange information / data with other devices via computer networks such as the Internet and / or various telecommunication networks.

[0098] The processor 11 may be any of a variety of general-purpose and / or specialized processing assemblies having processing and computing capabilities. Some examples of the processor 11 may include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors that execute machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the methods and processes described above, such as the vehicle path point determination method.

[0099] In some embodiments, the vehicle path point determination method may be embodied as a computer program and tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, some or all of the computer program may be loaded and / or installed into vehicle 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, it may perform one or more steps of the vehicle path point determination method described above. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle path point determination method in any other suitable manner (e.g., via firmware).

[0100] Various embodiments of the systems and techniques described herein may be realized in digital electronic circuitry systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard parts (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementation in one or more computer programs that may be executed and / or interpreted by a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor, capable of receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

[0101] Computer programs for implementing the methods of the present application can be coded in any combination of one or more programming languages. These computer programs can be provided to a processor in a general purpose computer, a special purpose computer, or other programmable data processing apparatus, so that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are performed. The computer program can be executed entirely on the machine, partially on the machine, or as a separate software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0102] As used herein, a computer-readable storage medium may be a tangible medium that can contain or store a computer program for use with, or in connection with, an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. Further specific examples of machine-readable storage media include an electrical connection of 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 foregoing.

[0103] To provide for user interaction, the systems and techniques described herein can be implemented in a vehicle that has a display device (e.g., a cathode ray tube (CRT) or LCD (liquid crystal display) monitor) for displaying information to a user, and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the vehicle. Other types of devices can be used to provide for user interaction; for example, the feedback provided to the user can be any form of sensing feedback (e.g., visual feedback, auditory feedback, or haptic feedback), and input from the user can be received in any form (including sound input, speech input, or tactile input).

[0104] The systems and techniques described herein can be implemented in a computing system that includes background components (e.g., as a data server), or middleware components (e.g., an application server), or front-end components (e.g., a user computer having a graphical user interface or a network browser through which a user can interact with embodiments of the systems and techniques described herein), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0105] A computing system may include a client and a server. The client and server are generally remote from each other and typically interact via a communication network. The client-server relationship is established by computer programs running on corresponding computers and having a client-server relationship with each other. To address the drawbacks of traditional physical hosts and VPS services, such as high management difficulty and poor business scalability, the server may be called a cloud computing server or cloud host, and may be a cloud server, a host product in a cloud computing service system.

[0106] It should be understood that steps can be rearranged, added, or deleted using the various types of processes described above. For example, the steps described herein may be performed in parallel, sequentially, or in a different order, and are not limited herein as long as the expected results of the technical solution of the present application can be achieved.

Claims

1. 1. A vehicle path point determination method, comprising: obtaining an initial vehicle path point sequence for the vehicle in a geodetic coordinate system; transforming the initial vehicle path point sequence into an intermediate vehicle path point sequence in a coordinate system having an origin at a start point of the vehicle path; determining a slope for each point in the sequence of intermediate vehicle path points; transforming the sequence of intermediate vehicle path points into a sequence of target vehicle path points in a dead reckoning DR coordinate system based on the slope of each point; A method comprising:

2. Transforming the initial vehicle path point sequence into an intermediate vehicle path point sequence in a coordinate system having an origin at a start point of the vehicle path, projecting the initial vehicle path point sequence to obtain a first vehicle path point sequence; translating the first vehicle path point sequence to obtain a second vehicle path point sequence in a coordinate system having an origin at the start point of the vehicle path, and setting the second vehicle path point sequence as an intermediate vehicle path point sequence; The method of claim 1 , comprising:

3. The coordinate system to which the first vehicle path point sequence belongs has an abscissa that is the distance from the point to the central meridian of a longitude domain, and an ordinate that is the distance from the point to the equator. The method of claim 2.

4. Each point in the sequence of intermediate vehicle path points includes a yaw angle, and accordingly, before determining the inclination of each point in the sequence of intermediate vehicle path points, obtaining a selected sequence of intermediate vehicle path points by deleting points whose difference between the yaw angle of each point in the sequence of intermediate vehicle path points and the yaw angle of the starting point of the vehicle path is greater than a predetermined yaw angle; The method of claim 1 further comprising:

5. Determining the slope of each point in the sequence of intermediate vehicle path points comprises: determining, for each point in the sequence of intermediate vehicle path points, the slopes of two points adjacent to said point; determining the determined slope as the slope of said point; The method of claim 1 , comprising:

6. Transforming the sequence of intermediate vehicle path points into a sequence of target vehicle path points in a dead reckoning DR coordinate system based on the slope of each point, ordering the slope of each point in the sequence of intermediate vehicle path points; selecting a predetermined number of gradients from the ordered gradients according to a predetermined rule; calculating an average slope of the predetermined number of slopes; transforming the sequence of intermediate vehicle path points into a sequence of target vehicle path points in a DR coordinate system based on the average slope; The method of claim 1 , comprising:

7. Transforming the sequence of intermediate vehicle path points into a sequence of target vehicle path points in a DR coordinate system based on the average slope includes: calculating a first angle in a coordinate system to which the sequence of intermediate vehicle path points belongs based on the average slope; transforming the sequence of intermediate vehicle path points into a sequence of target vehicle path points in a DR coordinate system based on the first angle and a transformation equation; Including, The method of claim 6.

8. The conversion formula includes the following formula: [Equation 1] where i is a positive integer, θ is the first angle, and (x i 2 ,y i 2 ) is the coordinate of a point in the intermediate vehicle path point sequence, and (x i 3 ,y i 3 ) are the coordinates of a point in the target vehicle path point sequence, The method of claim 7.

9. Obtaining an initial vehicle path point sequence for a vehicle in a geodetic coordinate system includes: Determining, by an in-vehicle integrated navigation system, latitude and longitude coordinates and a yaw angle for a distance traveled by the vehicle; obtaining a group of initial vehicle path points based on the longitude and latitude coordinates and the yaw angle; The method of claim 1 , comprising:

10. an acquisition module for acquiring an initial vehicle path point sequence of the vehicle in a geodetic coordinate system; a first transformation module for transforming the initial vehicle path point sequence into an intermediate vehicle path point sequence in a coordinate system having an origin at a start point of the vehicle path; a determination module for determining a slope of each point in the sequence of intermediate vehicle path points; a second transformation module for transforming the sequence of intermediate vehicle path points into a sequence of target vehicle path points in a dead reckoning DR coordinate system based on the slope of each point; Vehicle route point determination device.

11. at least one processor; a memory communicatively coupled to the at least one processor; The memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor can perform the method according to any one of claims 1 to 9. vehicle.

12. storing computer instructions for, when executed by a processor, implementing the vehicle path point determination method of any one of claims 1 to 9; A computer-readable storage medium.

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