Vehicle route point determination method, apparatus, 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] The embodiments of this application relate to the field of car navigation technology, and more particularly to a vehicle route point determination method, apparatus, vehicle, and storage medium.

[0002] This application claims priority to a Chinese patent application filed with the China National Intellectual Property Administration on June 30, 2023, with application number 202310803029.2, the entire contents of said application are incorporated into this application by reference. [Background technology]

[0003] Dead reckoning (DR) is a method for estimating an object's next position by measuring its distance and direction of movement, given that its current position at time is known. DR calibration is the process of reducing the error between the position estimated by DR and the vehicle's actual motion position by optimizing the internal parameters of the algorithm to achieve optimal performance. The key to performing DR calibration is mapping the measured vehicle's actual motion position to the DR coordinate system, and currently, the mainstream methods for achieving this are using an automated dynamic motion analyzer (ADMA) or distance measuring equipment. These methods have drawbacks, including high cost, a complex measurement conversion process, and low efficiency.

[0004] Therefore, how to easily obtain the vehicle's coordinates in the DR coordinate system is a matter of related technology. [Overview of the project] [Problems that the invention aims to solve]

[0005] This application provides a vehicle path point determination method, apparatus, vehicle, and storage medium to solve the problem in related technologies where the actual motion position of a vehicle cannot be accurately mapped to the DR coordinate system.

Means for Solving the Problem

[0006] According to one aspect of the present application, acquiring an initial vehicle route point sequence of a vehicle in a geodetic coordinate system; converting the initial vehicle route point sequence into an intermediate vehicle route point sequence in a coordinate system with the starting point of the vehicle route as the origin; determining the slope of each point in the intermediate vehicle route point sequence; and converting the intermediate vehicle route point sequence into a target vehicle route point sequence in a dead reckoning (DR) coordinate system based on the slope of each point, A vehicle route point determination method is provided.

[0007] According to another aspect of the present application, an acquisition module for acquiring an initial vehicle route point sequence of a vehicle in a geodetic coordinate system; a first conversion module for converting the initial vehicle route point sequence into an intermediate vehicle route point sequence in a coordinate system with the starting point of the vehicle route as the origin; a determination module for determining the slope of each point in the intermediate vehicle route point sequence; and a second conversion module for converting the intermediate vehicle route point sequence into a target vehicle route point sequence 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; and a memory communicatively connected to the at least one processor, wherein 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 implement the vehicle route point determination method described in any embodiment of the present application, A vehicle is provided.

[0009] Another aspect of this application, When executed by the processor, it stores computer instructions for carrying out the vehicle path point determination method described in any embodiment of the present application. Provides computer-readable storage media. [Effects of the Invention]

[0010] A vehicle path point determination method, apparatus, vehicle, and storage medium according to an embodiment of the present application, the method includes: obtaining an initial vehicle path point sequence of a vehicle in a geodetic coordinate system; 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; determining the inclination of each point in the intermediate vehicle path point sequence; and converting the intermediate vehicle path point sequence into a target vehicle path point sequence in a dead reckoning DR coordinate system based on the inclination of each point. This method converts the initial vehicle path point sequence of a vehicle in a geodetic coordinate system into an intermediate vehicle path point sequence in a coordinate system with the starting point of the vehicle path as the origin, and by determining the inclination of each point in the intermediate vehicle path point sequence, the intermediate vehicle path point sequence can be converted 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, and solving the problem in related technologies where the actual motion position of a vehicle cannot be accurately mapped to the DR coordinate system. [Brief explanation of the drawing]

[0011] To more clearly explain the technical concept in the embodiments of this application, the drawings that need to be used in the description of the embodiments are briefly described below. The drawings in the following description are only a few embodiments of this application, and it will be obvious to those skilled in the art that other drawings can be obtained based on these drawings without any creative work. [Figure 1] This is a flowchart of the vehicle route point determination method according to Embodiment 1 of the present application. [Figure 2] This is a schematic diagram of a vehicle route in a geodetic coordinate system according to an embodiment of the present invention. [Figure 3]This is a flowchart of the vehicle route point determination method according to Embodiment 2 of the present invention. [Figure 4] This is a schematic diagram of the vehicle route according to an embodiment of the present invention. [Figure 5] This is a schematic diagram of another vehicle route according to an embodiment of the present invention. [Figure 6] This is a flowchart of the vehicle route point determination method according to Embodiment 3 of the present application. [Figure 7] This is a schematic diagram of the vehicle path in the DR coordinate system according to an embodiment of the present application. [Figure 8] This is a schematic diagram of the structure of a vehicle route point determination device according to Embodiment 4 of the present application. [Figure 9] This is a schematic diagram of the structure of a vehicle according to Embodiment 5 of the present invention. [Modes for carrying out the invention]

[0012] To enable those skilled in the art to better understand the present invention, the technical invention in the embodiments of the present invention will be described clearly and completely below with reference to the drawings of the embodiments, although it will be clear that the embodiments described are only a part of the embodiments of the present invention and not all of them. All other embodiments obtained by those skilled in the art without creative work based on the embodiments of the present invention must fall within the scope of the protection of the present invention. It should be understood that each step described in the method embodiments of the present invention can be performed in a different order and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the execution of the indicated steps. The scope of the present invention is not limited in this respect.

[0013] As used herein, the term “including” and its variations are open-ended, equivalent to “including but not limited to.” The term “based on” means “based on at least part of.” The term “one embodiment” refers to “at least one embodiment,” the term “another embodiment” refers to “at least one other embodiment,” and the term “several embodiments” refers to “at least several embodiments.” Definitions of other terms are given below.

[0014] Furthermore, terms such as “First,” “Second,” etc., in the specification, claims, and drawings of this application are for distinguishing similar subjects and are not intended to describe a specific order or priority. It should be understood that the data used herein is interchangeable as appropriate so that the embodiments of this application described herein may be carried out in an order other than that shown or described herein. Also, the terms “includes,” “has,” and any variations thereof are intended to have non-exclusive implications. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to the steps or units explicitly mentioned, and may include other steps or units that are not explicitly mentioned or are specific to those processes, methods, products, or devices.

[0015] Furthermore, it should be understood by those skilled in the art that the modifiers "one" and "multiple" in this application are schematic and not restrictive, and should be understood as "one or more" unless otherwise clearly indicated in the context.

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

[0017] Example 1 Figure 1 is a flowchart of a vehicle route point determination method according to Embodiment 1 of the present application. This method can be applied to determining the coordinates of a vehicle's travel route in a DR coordinate system, is implementable in software and / or hardware, and can be executed by a vehicle route point determination device typically integrated into a vehicle. In this embodiment, the vehicle includes, but is not limited to, general transport vehicles, specialized vehicles, and vehicles for special purposes.

[0018] As shown in Figure 1, the vehicle path point determination method according to Embodiment 1 of the present application includes the following steps.

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

[0020] Here, the vehicle may be a vehicle in motion. The geodetic coordinate system is a coordinate system constructed in geodesy with a reference ellipsoid as the reference plane. The position of the point of contact is indicated by geodetic longitude, geodetic latitude, and geodetic altitude. The initial vehicle path point sequence may be a sequence of points representing the path the vehicle travels in the geodetic coordinate system.

[0021] In this embodiment, it is possible to obtain an initial vehicle path point sequence for one group of vehicle routes in a geodetic coordinate system, and the method for obtaining the initial vehicle path point sequence is not limited.

[0022] S120, the initial vehicle path point sequence is converted 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 the path the vehicle travels, and may be acquired starting while the vehicle is in motion, or starting from a stationary state of the vehicle, but is not limited to these in this embodiment. In this embodiment, the vehicle path is the distance the vehicle travels in a straight line. The intermediate vehicle path point sequence may be a group of data points in a coordinate system with the starting point of the vehicle path as the origin. The coordinate system to which the intermediate vehicle path points belong may have its horizontal axis pointing due east and its vertical axis pointing due north. It should be understood that the coordinate system to which the intermediate vehicle path points belong may have its horizontal axis pointing due west and its vertical axis pointing due south, and is not limited to this in this embodiment.

[0024] In this embodiment, by 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 the point belongs becomes the starting point of the vehicle path.

[0025] S130, The inclination of each point in the intermediate vehicle path point sequence is determined.

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

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

[0028] S140, Based on the inclination of each point, the intermediate vehicle path point sequence is converted into a target vehicle path point sequence in the dead reckoning DR coordinate system.

[0029] Here, the DR coordinate system may be a coordinate system with the starting point of the vehicle path as its origin. In the DR coordinate system, the horizontal axis may be the extension to the right from the rear axle center of the vehicle at the start of the vehicle path, and the vertical axis may be the direction of 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 can be calculated based on the inclination of the points in the intermediate vehicle path point sequence, and based on this angle, the intermediate vehicle path point sequence can be converted into a target vehicle path point sequence in the DR coordinate system.

[0031] The vehicle path point determination method according to Embodiment 1 of the present application includes: obtaining an initial vehicle path point sequence in a geodetic coordinate system; 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; determining the inclination of each point in the intermediate vehicle path point sequence; and converting the intermediate vehicle path point sequence into a target vehicle path point sequence in a dead reckoning (DR) coordinate system based on the inclination of each point. This method converts the initial vehicle path point sequence in a geodetic coordinate system into an intermediate vehicle path point sequence in a coordinate system with the starting point of the vehicle path as the origin, and by determining the inclination of each point in the intermediate vehicle path point sequence, the intermediate vehicle path point sequence can be converted 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, and solving the problem in related technologies 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 has been proposed. For simplicity, only the differences from the above embodiment are described in the modified embodiment.

[0033] In one embodiment, obtaining the initial vehicle path point sequence of a vehicle in a geodetic coordinate system is: The in-car integrated navigation system determines the latitude, longitude, and yaw angle related to the distance the vehicle travels in a straight line, and This includes obtaining a sequence of initial vehicle path points for one group based on the aforementioned longitude and latitude coordinates and the aforementioned yaw angle.

[0034] Here, the in-vehicle integrated navigation system may be an integrated navigation system that positions the vehicle using various technologies. For example, a Global Navigation Satellite System (GNSS), inertial navigation, visual navigation, laser rangefinder, sonar, and odometry 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, in this embodiment, the vehicle can be positioned 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 motion of the vehicle and the horizontal axis in a geodetic coordinate system.

[0035] In this embodiment, the vehicle's steering wheel is positioned at 0°, the vehicle is driven straight, and then the vehicle's position is determined integrally by the in-vehicle integrated navigation system, and each data point p i The latitude and longitude coordinates of the vehicle in the geodetic coordinate system (x i ,y i ) and yaw angle i A sequence of initial vehicle path points in one group {p n This can be obtained. For example, Figure 2 is a schematic diagram of a vehicle path in a geodetic coordinate system according to an embodiment of the present invention. As shown in Figure 2, the vehicle travels a certain distance in a straight line 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 in a straight line. Here, the horizontal coordinate is the longitude coordinate and the vertical coordinate is the latitude coordinate.

[0036] In this embodiment, the vehicle's coordinates in the geodetic coordinate system can be determined more accurately by the in-vehicle integrated navigation system, thereby improving the accuracy of positioning based on coordinates.

[0037] Example 2 Figure 3 is a flowchart of the vehicle route point determination method according to Embodiment 2 of the present application. Embodiment 2 is an optimization based on each of the above embodiments. For the content not described in detail in this embodiment, refer to Embodiment 1.

[0038] As shown in FIG. 3, the vehicle route point determination method according to Embodiment 2 of the present application includes the following steps.

[0039] S210. Obtain an initial vehicle route point sequence of the vehicle in the geodetic coordinate system.

[0040] S220. Project the initial vehicle route point sequence to obtain a first vehicle route point sequence.

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

[0042] In this embodiment, the latitude and longitude coordinates (x n , y i ) of each point in the initial vehicle route point sequence {p i} are projected to obtain a first vehicle route point sequence {p i 1 , y i 1} in which the coordinates of each point are (x n 1 ). Exemplarily, FIG. 4 is a schematic diagram of a vehicle route according to an embodiment of the present application. As shown in FIG. 4, the horizontal coordinate represents the distance from the point to the central meridian of the longitude area, and the vertical coordinate represents the distance from the point to the equator. The vehicle route in FIG. 4 is the first vehicle route point sequence.

[0043] In one embodiment, the coordinate system to which the first vehicle route point sequence belongs is such that the horizontal coordinate is the distance from the point to the central meridian of the longitude area, and the vertical coordinate is the distance from the point to the equator.

[0044] Here, the central meridian of the longitude region is the longitude center of the projection system. In projected coordinate systems, it is generally used as the reference point for the origin of the X-axis. The equator is the longest circumference of the trajectories generated by points on the Earth's surface as the Earth rotates.

[0045] In this embodiment, the first vehicle path point sequence {p n 1 The coordinate system to which} belongs is the x-coordinate system. i 1 y is the distance from the point to the central meridian of the longitude region, and the vertical coordinate y i 1 This represents the distance from the point to the equator.

[0046] S230, the first vehicle path point sequence is translated to obtain a second vehicle path point sequence in a coordinate system with the starting point of the vehicle path as the origin, and the second vehicle path point sequence is set as the 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 Translating each point in}, the second sequence of vehicle path points {p n 2 Obtaining}, the second vehicle path point sequence {p n 2} to intermediate vehicle route point sequence {p n 2} can be expressed as: Intermediate vehicle route point sequence {p n 2 The coordinates of the point in} are (x i 2 ,y i 2 ) and the origin is (x1 2 ,y1 2 ) For example, specific operations related to translation are as follows:

number

[0049] Figure 5 is a schematic diagram of another vehicle route according to an embodiment of the present invention, and as shown in Figure 5, the horizontal direction is due east and the vertical direction is due north.

[0050] S240, the inclination of each point in the intermediate vehicle path point sequence is determined.

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

[0052] The vehicle path point determination method according to Embodiment 2 of the present application further allows for the conversion of the intermediate vehicle path point sequence into a target vehicle path point sequence in the DR coordinate system by projecting and translating the initial vehicle path point sequence, and determining the inclination of each point in the intermediate vehicle path point sequence. This makes it possible to easily and accurately obtain the coordinates of the vehicle in the DR coordinate system, thus solving the problem in related technologies where the actual motion position of the vehicle cannot be accurately mapped to the DR coordinate system.

[0053] In one embodiment, each point in the intermediate vehicle path point sequence includes a yaw angle, and accordingly, before determining the inclination of each point in the intermediate vehicle path point sequence, The method further includes removing points in the aforementioned intermediate vehicle path point sequence where the difference between the yaw angle of each point and the yaw angle of the starting point of the vehicle path is greater than a predetermined yaw angle, thereby obtaining a selected intermediate vehicle path point sequence.

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

[0055] In this embodiment, the intermediate vehicle path point sequence {p n 2 The yaw angle of each point in the} and the starting point of the vehicle path (i.e., the origin p1 2All points where the difference between the yaw angle yaw1 and the selected intermediate vehicle path points are greater than a predetermined yaw angle (e.g., 0.05°) are removed, and a selected sequence of intermediate vehicle path points is obtained, {p n 2 The subscripts of these points in} are denoted as j.

[0056] This embodiment filters out points that are not on a straight line by selecting points in the intermediate vehicle path sequence where the difference between the yaw angle and the yaw angle of the origin is too large, thereby making the subsequent average slope more accurate.

[0057] In one embodiment, determining the inclination of each point in the intermediate vehicle path point sequence is: For each point in the aforementioned intermediate vehicle path point sequence, the inclination of two points adjacent to that point is determined, This includes determining the determined slope as the slope of the aforementioned point.

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

number

[0059] Example 3 Figure 6 is a flowchart of the vehicle path point determination method according to Embodiment 3 of the present invention, which is optimized based on the above embodiments. For details not described in this embodiment, please refer to Embodiment 1.

[0060] As shown in Figure 6, the vehicle path point determination method according to Embodiment 3 of the present application includes the following steps.

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

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

[0063] S330, the inclination of each point in the intermediate vehicle path point sequence is determined.

[0064] S340, the inclination of each point in the intermediate vehicle path point sequence is ordered.

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

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

[0067] Here, the predetermined rule may be a rule concerning the selection of slopes, but is not limited in this embodiment. For example, the predetermined rule may select some data from an ordered set of slopes, or it may select the mode from all slopes. The predetermined number of values ​​may be set according to the actual situation, but is not limited in this embodiment.

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

[0069] S360, The average slope of the predetermined number of slopes is calculated.

[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, the average slope k of those predetermined slopes can be calculated.

[0072] S370, Based on the average slope, the intermediate vehicle path point sequence is converted into a target vehicle path point sequence in the DR coordinate system.

[0073] In this embodiment, based on the average slope, the angle of the point in the intermediate vehicle path sequence with the coordinate axis in the coordinate system to which the point belongs can be determined, and based on the angle, the intermediate vehicle path sequence can be transformed into a target vehicle path sequence in the DR coordinate system.

[0074] The vehicle path point determination method according to Embodiment 3 of the present application further determines the inclination of each point in the intermediate vehicle path point sequence, selects a predetermined number of inclinations from the ordered inclinations according to a predetermined rule, calculates the average inclination, and converts the intermediate vehicle path point sequence into a target vehicle path point sequence in the DR coordinate system based on the average inclination. This makes it possible to easily and accurately obtain the coordinates of the vehicle in the DR coordinate system, solving the problem in related technologies that the actual motion position of the vehicle cannot be accurately mapped to the DR coordinate system.

[0075] In one embodiment, based on the average slope, the intermediate vehicle path point sequence is transformed into a target vehicle path point sequence in the DR coordinate system. Based on the aforementioned average slope, the first angle in the coordinate system to which the intermediate vehicle path point sequence belongs is calculated, This includes converting the intermediate vehicle path point sequence into a target vehicle path point sequence in the DR coordinate system based on the first angle and the conversion formula.

[0076] Here, the first angle may be the angle between the line to which a point in the intermediate vehicle path point sequence belongs and the coordinate axis, the angle with the vertical axis, or the angle with the horizontal axis, and this embodiment is not limited to this. The transformation formula may be a formula for transforming 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 using the average slope k, for example,

number

[0078] In one embodiment, the conversion formula includes the following formula.

number

[0079] Here, i is a positive integer, θ is the aforementioned 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 ) is the coordinate of a point in the aforementioned target vehicle path point sequence.

[0080] In this embodiment, the above conversion formula is used to convert the coordinates of a point in the intermediate vehicle path sequence to the coordinates of a point in the target vehicle path sequence (x i 3 ,y i 3 It can be converted to ). For example, Figure 7 is a schematic diagram of a vehicle path in the DR coordinate system according to an embodiment of the present invention, and as shown in Figure 7, the actual motion trajectory of the vehicle is mapped to the DR coordinate system.

[0081] This embodiment collects vehicle route points using an in-vehicle integrated navigation system, and then converts the resulting coordinates in the geodetic coordinate system to coordinates in the DR coordinate system by applying UTM projection, translation, filtering, and rotation. Compared to conventional methods using ADMA or distance measuring equipment, this embodiment has the advantages of lower equipment costs, easier installation, higher accuracy in coordinate system conversion, faster conversion speed, and greater tolerance for installation errors of the integrated navigation system.

[0082] Example 4 Figure 8 is a schematic diagram of the structure of a vehicle path point determination device according to Embodiment 4 of the present application. This device, which can be implemented with software and / or hardware and is usually integrated into a vehicle, can be applied when determining the coordinates of a vehicle's travel path in a DR coordinate system.

[0083] As shown in Figure 8, the device is An acquisition module 410 for obtaining the initial vehicle path point sequence of a 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 with the starting point of the vehicle path as the origin, A determination module 430 for determining the inclination of each point in the aforementioned intermediate vehicle path point sequence, The system includes a second transformation module 440 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 inclination of each point.

[0084] This embodiment 4 provides a vehicle path point determination device comprising: an acquisition module for acquiring an initial vehicle path point sequence in a geodetic coordinate system; a first transformation module for 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; a determination module for determining the inclination of each point in the intermediate vehicle path point sequence; and a second transformation module for converting the intermediate vehicle path point sequence into a target vehicle path point sequence in a dead reckoning DR coordinate system based on the inclination of each point. By converting the initial vehicle path point sequence in a geodetic coordinate system into an intermediate vehicle path point sequence in a coordinate system with the starting point of the vehicle path as the origin, and determining the inclination of each point in the intermediate vehicle path point sequence, the intermediate vehicle path point sequence can be converted 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, and solving the problem in related technologies that the actual motion position of the vehicle cannot be accurately mapped to the DR coordinate system.

[0085] Furthermore, the first conversion module 420 is, Projecting the aforementioned initial sequence of vehicle path points yields the first sequence of vehicle path points. This includes 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 making the second vehicle path point sequence the intermediate vehicle path point sequence.

[0086] Furthermore, the coordinate system to which the first vehicle path point sequence belongs has a horizontal coordinate that is the distance from the point to the central meridian of the longitude region, and a vertical coordinate that is the distance from the point to the equator.

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

[0088] Furthermore, the decision module 430, For each point in the aforementioned intermediate vehicle path point sequence, the inclination of two points adjacent to that point is determined, This includes determining the determined slope as the slope of the aforementioned point.

[0089] Furthermore, the second conversion module 440 is, The inclination of each point in the aforementioned intermediate vehicle path point sequence is to be ordered, Selecting a predetermined number of slopes from an ordered set of slopes according to a predetermined rule, Calculating the average slope of the predetermined number of slopes, This includes converting the intermediate vehicle path point sequence into a target vehicle path point sequence in the DR coordinate system based on the average slope.

[0090] Furthermore, based on the average slope, the intermediate vehicle path point sequence is converted into the target vehicle path point sequence in the DR coordinate system. Based on the aforementioned average slope, the first angle in the coordinate system to which the intermediate vehicle path point sequence belongs is calculated, This includes converting the intermediate vehicle path point sequence into a target vehicle path point sequence in the DR coordinate system based on the first angle and the conversion formula.

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

number

[0092] Here, i is a positive integer, θ is the aforementioned 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 ) is the coordinate of a point in the aforementioned target vehicle path point sequence.

[0093] Furthermore, the acquisition module 410, The in-car integrated navigation system determines the latitude, longitude, and yaw angle related to the distance the vehicle travels in a straight line, and This includes obtaining a sequence of initial vehicle path points for one group based on the aforementioned longitude and latitude coordinates and the aforementioned yaw angle.

[0094] The above-described vehicle route point determination device can perform the vehicle route point determination method according to any embodiment of the present invention and has a functional module and beneficial effects corresponding to the execution of the method.

[0095] Example 5 Figure 9 shows a schematic diagram of the structure of a vehicle 10 that can be used to carry out an embodiment of the present application. The components shown herein, their connections and relationships, and their functions are illustrative only and are not intended to limit the implementation of the present application as described herein and / or required.

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

[0097] Multiple components in the vehicle 10 are connected to an I / O interface 15 and include input units 16 such as a keyboard and mouse, output units 17 such as various types of displays and speakers, storage units 18 such as magnetic disks and optical disks, and communication units 19 such as a network card, modem, and wireless communication transceiver. The communication units 19 enable the 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 a variety of general-purpose and / or dedicated 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 dedicated artificial intelligence (AI) computing chips, various processors for running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 performs each of the above-described methods and processes, for example, the vehicle path point determination method.

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

[0100] Various embodiments of the systems and technologies described herein can be implemented as digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard parts (ASSPs), systems-on-a-chip (SOCs), composite programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementing one or more computer programs that can be executed and / or interpreted on a programmable system that includes at least one programmable processor, which may be a dedicated or general-purpose programmable processor, that receives data and instructions from a storage system, at least one input device, and at least one output device, and transmits data and instructions to the storage system, at least one input device, and at least one output device.

[0101] Computer programs for carrying out the methods of the present invention can be coded in any combination of one or more programming languages. These computer programs can be provided to the processor of a general-purpose computer, a dedicated computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations defined in the flowcharts and / or block diagrams are performed. The computer programs may run entirely on the machine, partially on the machine, as a standalone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0102] In the specification of this application, a computer-readable storage medium may be a tangible medium that contains or stores computer programs used in instruction execution systems, apparatuses, or devices, or computer programs used in combination with instruction execution systems, apparatuses, or devices. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. Further specific examples of machine-readable storage media include one or more wire-based electrical connections, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0103] The systems and technologies described herein can be implemented in a vehicle having a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) and a keyboard and pointing device (e.g., a mouse or trackball) in order to provide user interaction, and the user can provide input to the vehicle using the keyboard and its pointing device. Other types of devices may be used to provide user interaction, for example, the feedback provided to the user may be any form of sensing feedback (e.g., visual feedback, auditory feedback, or haptic feedback), and input from the user may be received in any form (including sound input, voice input, or haptic input).

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

[0105] A computing system may include a client and a server. The client and server are generally geographically separated and typically interact via a communication network. The client-server relationship is generated by computer programs running on corresponding computers, which have a client-server relationship with each other. To address the management difficulties and limited scalability inherent in traditional physical hosts and VPS services, the server may also be a cloud computing server, also called a cloud host, which is a host product within a cloud computing service framework.

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

Claims

1. A method for determining a vehicle route point applicable to a vehicle, The vehicle's in-vehicle integrated navigation system acquires the initial vehicle path point sequence in the geodetic coordinate system, and the initial vehicle path point sequence is stored in the vehicle's memory. The vehicle's processor converts 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, The vehicle's processor determines the inclination of each point in the intermediate vehicle path point sequence, The vehicle's processor converts the intermediate vehicle path point sequence into a target vehicle path point sequence in a dead reckoning DR coordinate system based on the inclination of each point. Methods that include...

2. The vehicle's processor converts 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, Projecting the aforementioned initial vehicle path point sequence yields the first vehicle path point sequence. Translating the first sequence of vehicle path points yields a second sequence of vehicle path points in a coordinate system with the starting point of the vehicle path as the origin, and the second sequence of vehicle path points is made the intermediate sequence of vehicle path points. The method according to claim 1, including the method described in claim 1.

3. The coordinate system to which the first vehicle path point sequence belongs is such that the horizontal coordinate is the distance from the point to the central meridian of the longitude region, and the vertical coordinate is the distance from the point to the equator. The method according to claim 2.

4. Each point in the intermediate vehicle path sequence includes a yaw angle, and accordingly, before the vehicle's processor determines the inclination of each point in the intermediate vehicle path sequence, To obtain a selected sequence of intermediate vehicle path points, delete points where the difference between the yaw angle of each point in the aforementioned 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 according to claim 1, further comprising:

5. The vehicle's processor determines the inclination of each point in the intermediate vehicle path point sequence, For each point in the aforementioned intermediate vehicle path point sequence, the inclination of two points adjacent to that point is determined, The determined slope is determined as the slope of the aforementioned point, The method according to claim 1, including the method described in claim 1.

6. The vehicle's processor converts the intermediate vehicle path point sequence into a target vehicle path point sequence in a dead reckoning DR coordinate system based on the inclination of each point, The inclination of each point in the aforementioned intermediate vehicle path point sequence is to be ordered, Selecting a predetermined number of slopes from an ordered set of slopes according to a predetermined rule, Calculating the average slope of the predetermined number of slopes, Based on the aforementioned average slope, the intermediate vehicle path point sequence is transformed into a target vehicle path point sequence in the DR coordinate system. The method according to claim 1, including the method described in claim 1.

7. The vehicle's processor converts the intermediate vehicle path point sequence into a target vehicle path point sequence in the DR coordinate system based on the average slope, Based on the aforementioned average slope, the first angle in the coordinate system to which the intermediate vehicle path point sequence belongs is calculated, Based on the first angle and transformation formula, the intermediate vehicle path point sequence is transformed into the target vehicle path point sequence in the DR coordinate system, including, The method according to claim 6.

8. The aforementioned conversion formula includes the following formula: [Math 1] Here, i is a positive integer, θ is the aforementioned 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 ) is the coordinate of a point in the aforementioned target vehicle path point sequence. The method according to claim 7.

9. The vehicle's in-vehicle integrated navigation system obtains the initial vehicle path point sequence of the vehicle in a geodetic coordinate system, The in-car integrated navigation system determines the latitude, longitude, and yaw angle related to the distance the vehicle travels in a straight line, and Based on the aforementioned latitude and longitude coordinates and yaw angle, an initial sequence of vehicle path points for one group is obtained. The method according to claim 1, including the method described in claim 1.

10. An acquisition module for obtaining the initial vehicle path point sequence of a vehicle in a geodetic coordinate system, A first transformation module for 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, A determination module for determining the inclination of each point in the aforementioned intermediate vehicle path point sequence, The system includes a second transformation module for converting the intermediate vehicle path point sequence into a target vehicle path point sequence in a dead reckoning DR coordinate system based on the inclination of each point. Vehicle route point determination device.

11. At least one processor, The system comprises a memory connected to at least one of the processors, The memory stores a computer program that can be executed 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 carry out the method according to any one of claims 1 to 9. vehicle.

12. When executed by the processor, a computer instruction for carrying out the vehicle route point determination method according to any one of claims 1 to 9 is stored. Computer-readable storage medium.

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