Vehicle path point determination method and apparatus, and vehicle and storage medium

Abstract

Disclosed in the present application are a vehicle path point determination method and apparatus, and a vehicle and a storage medium. The method comprises: acquiring an original vehicle path point column of a vehicle in a geodetic coordinate system; converting the original vehicle path point column into an intermediate vehicle path point column in a coordinate system in which a start point of a vehicle path is taken as a point of origin; determining the slope of each point in the intermediate vehicle path point column; and according to the slope of each point, converting the intermediate vehicle path point column into a target vehicle path point column in a dead reckoning (DR) coordinate system. In the method, an original vehicle path point column of a vehicle in a geodetic coordinate system is converted into an intermediate vehicle path point column in a coordinate system in which a start point of a vehicle path is taken as a point of origin, and the intermediate vehicle path point column is converted into a target vehicle path point column in a DR coordinate system by means of determining the slope of each point in the intermediate vehicle path point column, such that the coordinates of the vehicle in the DR coordinate system can be conveniently and accurately obtained.

Description

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

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on June 30, 2023, with application number 202310803029.2, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The embodiments of the present application relate to the field of automobile navigation technology, and more particularly to a method, device, vehicle, and storage medium for determining vehicle waypoints. Background Art

[0003] Dead Reckoning (DR) is a method of calculating an object's position at the next moment by measuring its distance and bearing, given its current position. DR calibration is the process of optimizing the algorithm's internal parameters to minimize the error between the DR-calculated position and the vehicle's actual motion position, achieving optimal performance. The key to DR calibration is mapping the measured actual vehicle position to the DR coordinate system. Currently, the mainstream method uses an Automatic Dynamic Motion Analyzer (ADMA) or ranging equipment to achieve this. These methods suffer from high costs, cumbersome measurement conversion processes, and low efficiency.

[0004] Therefore, how to conveniently obtain the coordinates of the vehicle in the DR coordinate system is a problem existing in related technologies.

[0005] Summary of the Invention

[0006] The present application provides a vehicle path point determination method, device, vehicle and storage medium to solve the problem in the related art that the actual movement position of the vehicle cannot be accurately mapped to the DR coordinate system.

[0007] According to one aspect of the present application, a method for determining a vehicle path point is provided, the method comprising:

[0008] Get the original vehicle path point sequence of the vehicle in the geodetic coordinate system;

[0009] Converting the original 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;

[0010] determining a slope for each point in the intermediate vehicle waypoint sequence;

[0011] The intermediate vehicle path point sequence is converted into a target vehicle path point sequence in a dead reckoning (DR) coordinate system according to the slope of each point.

[0012] According to another aspect of the present application, a vehicle path point determination device is provided, the device comprising:

[0013] An acquisition module is used to obtain the original vehicle path point sequence of the vehicle in the geodetic coordinate system;

[0014] A first conversion module, configured to convert the original 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;

[0015] a determination module for determining a slope of each point in the intermediate vehicle path point sequence;

[0016] The second conversion module is configured to convert the intermediate vehicle path point sequence into a target vehicle path point sequence in a dead reckoning (DR) coordinate system according to the slope of each point.

[0017] According to another aspect of the present application, there is provided a vehicle comprising: at least one processor; and

[0018] a memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle path point determination method described in any embodiment of the present application.

[0020] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle path point determination method described in any embodiment of the present application when executed.

[0021] The present application provides a vehicle path point determination method, device, vehicle, and storage medium. The method includes: obtaining an original vehicle path point sequence of the vehicle in a geodetic coordinate system; converting the original 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 slope 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 slope of each point. The method converts the original vehicle path point sequence of the 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 converts the intermediate vehicle path point sequence into a target vehicle path point sequence in a DR coordinate system by determining the slope of each point in the intermediate vehicle path point sequence. This method can conveniently and accurately obtain the coordinates of the vehicle in the DR coordinate system, thereby solving the problem in the related art of being unable to accurately map the actual motion position of the vehicle to the DR coordinate system. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] FIG1 is a flow chart of a method for determining a vehicle path point according to a first embodiment of the present application;

[0024] FIG2 is a schematic diagram of a vehicle path in a geodetic coordinate system provided in an embodiment of the present application;

[0025] FIG3 is a flow chart of a method for determining a vehicle path point according to a second embodiment of the present application;

[0026] FIG4 is a schematic diagram of a vehicle path provided in an embodiment of the present application;

[0027] FIG5 is a schematic diagram of another vehicle path provided in an embodiment of the present application;

[0028] FIG6 is a flow chart of a method for determining a vehicle path point according to a third embodiment of the present application;

[0029] FIG7 is a schematic diagram of a vehicle path in a DR coordinate system provided in an embodiment of the present application;

[0030] FIG8 is a schematic structural diagram of a vehicle path point determination device provided in Example 4 of the present application;

[0031] FIG9 is a schematic structural diagram of a vehicle provided in Example 5 of the present application. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only embodiments of a part of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of this application. It should be understood that the various steps described in the method implementation mode of the present application can be performed in different orders and / or in parallel. In addition, the method implementation mode may include additional steps and / or omit the steps shown. The scope of the present application is not limited in this respect.

[0033] As used herein, the term "including" and its variations are open-ended, i.e., "including but not limited to." The term "based on" means "based, at least in part, on." The term "one embodiment" means "at least one embodiment," the term "another embodiment" means "at least one additional embodiment," and the term "some embodiments" means "at least some embodiments." Other terms are defined in the following description.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] It should be noted that the modifications of "one" and "multiple" mentioned in this application are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly indicated in the context, they should be understood as "one or more".

[0036] The names of the messages or information exchanged between multiple devices in the embodiments of the present application are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0037] Example 1

[0038] Figure 1 is a flow chart of a vehicle path point determination method provided in Example 1 of the present application. The method is applicable to determining the coordinates of a vehicle's driving path in a DR coordinate system. The method can be executed by a vehicle path point determination device, wherein the device can be implemented by software and / or hardware and is generally integrated on a vehicle. In this embodiment, the vehicle includes but is not limited to: ordinary transport vehicles, special-purpose vehicles, special-purpose vehicles, etc.

[0039] As shown in FIG1 , a vehicle path point determination method provided in Example 1 of the present application includes the following steps:

[0040] S110 , obtaining an original vehicle path point sequence of the vehicle in the geodetic coordinate system.

[0041] The vehicle can be a moving vehicle. A geodetic coordinate system is a coordinate system established in geodetic surveying using a reference ellipsoid as a reference surface. The location of a ground point is expressed in geodetic longitude, geodetic latitude, and geodetic altitude. The original vehicle path point sequence can be a point sequence representing a segment of a path traveled by the vehicle in the geodetic coordinate system.

[0042] In this embodiment, a set of original vehicle path point sequences in a geodetic coordinate system for a section of the vehicle's travel path may be obtained. This embodiment does not limit how to obtain the original vehicle path point sequences.

[0043] S120: Convert the original 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.

[0044] Among them, the vehicle path can be a section of the path that the vehicle travels, and the vehicle path can be obtained when the vehicle is traveling, or when the vehicle is stationary, and this embodiment does not limit this. The vehicle path in this embodiment is a section of the distance that the vehicle travels straight. The intermediate vehicle path point column can be a set of data points in a coordinate system with the starting point of the vehicle path as the origin. The horizontal axis of the coordinate system where the intermediate vehicle path point is located can point to due east, and the vertical axis can point to due north. It can be understood that the horizontal axis of the coordinate system where the intermediate vehicle path point is located can also point to due west, and the vertical axis can also point to due south, and this embodiment does not limit this.

[0045] In this embodiment, each point in the original vehicle path point sequence may be projected and translated to obtain a set of intermediate vehicle path point sequences whose origin in the coordinate system is the starting point of the vehicle path.

[0046] S130: Determine the slope of each point in the intermediate vehicle path point sequence.

[0047] The slope is a quantity that indicates the degree to which the tangent line of a straight line or curve is tilted with respect to the horizontal axis.

[0048] In this embodiment, the slope of each point in the intermediate vehicle path point sequence can be determined by a slope calculation method, and the method for calculating the slope is not limited in this embodiment. For example, the slope of the point can be determined by calculating the slope between two adjacent points.

[0049] S140 , converting the intermediate vehicle path point sequence into a target vehicle path point sequence in a dead reckoning (DR) coordinate system according to the slope of each point.

[0050] The DR coordinate system may be a coordinate system with the starting point of the vehicle path as its origin. The horizontal axis of the DR coordinate system may be a line extending rightward from the center of the vehicle's rear axle at the start of the vehicle path, and the vertical axis may be the direction of the vehicle's front end at the start of the vehicle path. The target vehicle pathpoint sequence may be a set of coordinates of the vehicle path in the DR coordinate system.

[0051] In this embodiment, the angle between the intermediate vehicle path point sequence and the DR coordinate system can be calculated based on the slope of the midpoint of the intermediate vehicle path point sequence, and the intermediate vehicle path point sequence can be converted into the target vehicle path point sequence in the DR coordinate system based on the angle.

[0052] A vehicle path point determination method provided in a first embodiment of the present application includes: obtaining an original vehicle path point sequence of a vehicle in a geodetic coordinate system; converting the original vehicle path point sequence into an intermediate vehicle path point sequence in a coordinate system with a starting point of the vehicle path as an origin; determining the slope 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 slope of each point. This method converts the original vehicle path point sequence of the vehicle in a geodetic coordinate system into an intermediate vehicle path point sequence in a coordinate system with a starting point of the vehicle path as an origin, and converts the intermediate vehicle path point sequence into a target vehicle path point sequence in a DR coordinate system by determining the slope of each point in the intermediate vehicle path point sequence, thereby enabling the coordinates of the vehicle in the DR coordinate system to be obtained conveniently and accurately, thereby solving the problem in the related art of being unable to accurately map the actual motion position of the vehicle to the DR coordinate system.

[0053] Based on the above embodiment, a modified embodiment of the above embodiment is proposed. It should be noted that, in order to simplify the description, only the differences from the above embodiment are described in the modified embodiment.

[0054] In one embodiment, obtaining an original vehicle path point sequence of the vehicle in a geodetic coordinate system includes:

[0055] Determine the latitude and longitude coordinates and heading angle of the vehicle traveling a certain distance in a straight line through the vehicle-mounted integrated navigation system;

[0056] A set of original vehicle path point sequences is obtained according to the latitude and longitude coordinates and the heading angle.

[0057] Among them, the vehicle-mounted integrated navigation system can be a combined navigation system on the vehicle that uses multiple technologies to locate the vehicle, such as the Global Navigation Satellite System (GNSS), inertial navigation, visual navigation, laser ranging, sonar detection, odometer, etc., which can all be components of the integrated navigation system. This embodiment does not limit the components of the vehicle-mounted integrated navigation. For example, this embodiment can use GNSS and inertial navigation to combine the positioning of the vehicle. The longitude and latitude coordinates can be the longitude and latitude coordinates of the vehicle in the geodetic coordinate system. The heading angle can be the angle between the actual direction of movement of the vehicle and the horizontal coordinate axis in the geodetic coordinate system.

[0058] In this embodiment, the steering wheel of the vehicle can be placed at 0° and the vehicle can be driven in a straight line. Then, the vehicle can be positioned by the vehicle-mounted integrated navigation to obtain a set of original vehicle path point sequences {p n}, where each data point p i Including the latitude and longitude coordinates of the vehicle in the geodetic coordinate system (x i ,y i ) and heading angle yaw i For example, FIG2 is a schematic diagram of a vehicle path in a geodetic coordinate system provided by an embodiment of the present application. As shown in FIG2 , starting from the vehicle path starting point, the vehicle travels straight for a distance and then begins to move freely. The points in the original vehicle path point column recorded in this embodiment are points on the path when the vehicle travels straight. The horizontal coordinate is the longitude coordinate, and the vertical coordinate is the latitude coordinate.

[0059] This embodiment can more accurately determine the coordinates of the vehicle in the geodetic coordinate system through the vehicle-mounted integrated navigation, thereby improving the accuracy of coordinate positioning.

[0060] Example 2

[0061] Figure 3 is a flow chart of a method for determining a vehicle path point provided by the second embodiment of the present application. The second embodiment is optimized based on the above embodiments.

[0062] Example 1.

[0063] As shown in FIG3 , a vehicle path point determination method provided in the second embodiment of the present application includes the following steps:

[0064] S210: Obtain an original vehicle path point sequence of the vehicle in the geodetic coordinate system.

[0065] S220: Project the original vehicle path point sequence to obtain a first vehicle path point sequence.

[0066] The first vehicle path point sequence may be a data point sequence obtained by projecting each latitude and longitude coordinate in the original vehicle path point sequence. The projection method for the original vehicle path point sequence may be UTM projection or other projection methods, which are not limited in this embodiment.

[0067] In this embodiment, the original vehicle path point list {p n The longitude and latitude coordinates (x i ,y i ) is projected to obtain the first vehicle path point sequence The coordinates of each point in the first vehicle path point column are For example, FIG4 is a schematic diagram of a vehicle path provided in an embodiment of the present application. As shown in FIG4 , the horizontal axis represents the distance from the point to the central meridian of the longitude zone, and the vertical axis represents the distance from the point to the equator. The vehicle path in FIG4 is the first vehicle path point sequence.

[0068] In one embodiment, the horizontal coordinate of the coordinate system where the first vehicle path point column is located is the distance from the point to the central meridian of the longitude zone, and the vertical coordinate is the distance from the point to the equator.

[0069] The central meridian of the longitude zone is the centerline of longitude in the projection system. Projected coordinate systems often use it as the reference point for the x-axis origin. The equator is the line of the longest circle along the path of points on the Earth's surface as the Earth rotates.

[0070] In this embodiment, the first vehicle path point sequence The horizontal coordinate of the coordinate system is the distance from the point to the central meridian of the longitude zone, the ordinate is the distance from the point to the equator.

[0071] S230: Translate 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 use the second vehicle path point sequence as an intermediate vehicle path point sequence.

[0072] The second vehicle path point sequence may be a translated first vehicle path point sequence.

[0073] In this embodiment, the first vehicle path point list can be Each point in the vehicle path is translated to obtain the second vehicle path point sequence in the coordinate system with the starting point of the vehicle path as the origin. The second vehicle path point list As an intermediate vehicle waypoint sequence Intermediate vehicle waypoint sequence The coordinates of the points in The origin is For example, the specific operations of translation are:

[0074] FIG5 is a schematic diagram of another vehicle path provided in an embodiment of the present application. As shown in FIG5 , the horizontal coordinate direction points to due east, and the vertical coordinate direction points to due north.

[0075] S240: Determine the slope of each point in the intermediate vehicle path point sequence.

[0076] S250 , converting the intermediate vehicle path point sequence into a target vehicle path point sequence in a dead reckoning (DR) coordinate system according to the slope of each point.

[0077] A vehicle path point determination method provided in Example 2 of the present application further projects and translates the original vehicle path point sequence to obtain an 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 by determining the slope of each point in the intermediate vehicle path point sequence, thereby conveniently and accurately obtaining 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.

[0078] In one embodiment, each point in the intermediate vehicle pathpoint sequence includes a heading angle; accordingly, before determining the slope of each point in the intermediate vehicle pathpoint sequence, the method further includes:

[0079] The points in the intermediate vehicle path point sequence whose heading angle difference with the heading angle of the vehicle path starting point is greater than a preset heading angle are deleted to obtain a filtered intermediate vehicle path point sequence.

[0080] The preset heading angle may be a preset heading angle difference, and the preset heading angle may be set according to actual conditions. For example, the preset heading angle may be any value between 0° and 0.1°.

[0081] In this embodiment, the intermediate vehicle path points can be listed in The heading angle of each point in the vehicle path is the same as the starting point (i.e. the origin ) is greater than the preset heading angle (such as 0.05°) of all points are deleted to obtain the filtered intermediate vehicle path point sequence. These points are recorded in The subscript in is j.

[0082] This embodiment can filter out points that are not on a straight line by screening out points in the intermediate vehicle path point sequence whose heading angles differ too much from the heading angles of the origin, so that the subsequent average slope is more accurate.

[0083] In one embodiment, determining the slope of each point in the intermediate vehicle waypoint sequence includes:

[0084] For each point in the intermediate vehicle path point sequence, determining the slopes of two points adjacent to the point;

[0085] The determined slope is determined as the slope of the point.

[0086] In this embodiment, when determining the slope of each point in the middle vehicle path point sequence, for each point in the middle vehicle path point sequence, the slopes of the two points adjacent to the point can be used as the slope of the point. For example, the slope k of each point is calculated. j The method can be

[0087] Example 3

[0088] FIG6 is a flow chart of a method for determining a vehicle path point according to a third embodiment of the present application. The third embodiment is optimized based on the above embodiments. For details not yet provided in this embodiment, please refer to the first embodiment.

[0089] As shown in FIG6 , a vehicle path point determination method provided in the third embodiment of the present application includes the following steps:

[0090] S310: Obtain an original vehicle path point sequence of the vehicle in the geodetic coordinate system.

[0091] S320: Convert the original 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.

[0092] S330: Determine the slope of each point in the intermediate vehicle path point sequence.

[0093] S340. Sort the slope of each point in the intermediate vehicle path point sequence.

[0094] In this embodiment, after obtaining the slope of each point in the intermediate vehicle path point sequence, the slopes of all points may be sorted, and the sorting may be from large to small or from small to large.

[0095] S350 , selecting a preset number of slopes from the sorted slopes according to a preset rule.

[0096] The preset rule may be a rule for selecting a slope, which is not limited in this embodiment. For example, the preset rule may be to select a portion of data from the sorted slopes, or to select the mode of all slopes. The value of the preset number may also be set according to actual circumstances, which is not limited in this embodiment.

[0097] In this embodiment, a preset number of slopes can be selected from the sorted slopes according to a preset rule. For example, in this embodiment, 50% of the data from the sorted slopes can be selected.

[0098] S360: Calculate the average slope of the preset number of slopes.

[0099] The average slope may be an average of a preset number of slopes.

[0100] In this embodiment, after obtaining a preset number of slopes, an average slope k of the preset number of slopes may be calculated.

[0101] S370. Convert the intermediate vehicle path point sequence into a target vehicle path point sequence in a DR coordinate system according to the average slope.

[0102] In this embodiment, the angle between the points in the intermediate vehicle path point column and the coordinate axis in the coordinate system can be determined based on the average slope, so that the intermediate vehicle path point column is converted into the target vehicle path point column in the DR coordinate system based on the angle.

[0103] A vehicle path point determination method provided in Example 3 of the present application further determines the slope of each point in the intermediate vehicle path point column, selects a preset number of slopes from the sorted slopes according to preset rules, and calculates the average slope, thereby converting the intermediate vehicle path point column into a target vehicle path point column in the DR coordinate system according to the average slope. This method can conveniently and accurately obtain the coordinates of the vehicle in the DR coordinate system, solving the problem in related technologies that the actual movement position of the vehicle cannot be accurately mapped to the DR coordinate system.

[0104] In one embodiment, converting the intermediate vehicle pathpoint sequence into a target vehicle pathpoint sequence in a DR coordinate system according to the average slope includes:

[0105] Calculating a first angle of the intermediate vehicle path point column in the coordinate system according to the average slope;

[0106] The intermediate vehicle path point sequence is converted into a target vehicle path point sequence in the DR coordinate system according to the first angle and the conversion formula.

[0107] The first angle may be the angle between the line on which the points on the intermediate vehicle pathpoint sequence lie and the coordinate axis. The first angle may be the angle with the vertical axis or the horizontal axis, and this embodiment does not limit this. The conversion formula may be a formula for converting the intermediate vehicle pathpoint sequence into the target vehicle pathpoint sequence in the DR coordinate system.

[0108] In this embodiment, the first angle θ can be calculated by the average slope k, for example, The θ is the angle between the straight line where the point on the middle vehicle path point column is located and the vertical coordinate axis.

[0109] In one embodiment, the conversion formula includes:

[0110] Wherein, i is a positive integer, θ is the first angle, are the coordinates of the points in the middle vehicle pathpoint column, are the coordinates of the points in the target vehicle path point sequence.

[0111] In this embodiment, the coordinates of the points in the intermediate vehicle path point column can be converted to the coordinates of the points in the target vehicle path point column by the above conversion formula Exemplarily, FIG7 is a schematic diagram of a vehicle path in a DR coordinate system provided in an embodiment of the present application. As shown in FIG7 , the actual motion trajectory of the vehicle has been mapped to the DR coordinate system.

[0112] This embodiment uses an on-board integrated navigation system to collect vehicle path points, then converts the output geodetic coordinates into DR coordinates by performing UTM projection, translation, filtering, and rotation. Compared to traditional methods using ADMA or distance measurement equipment, this embodiment offers the advantages of low equipment cost, convenient installation, high coordinate system conversion accuracy, fast conversion speed, and greater tolerance for errors in the integrated navigation system installation.

[0113] Example 4

[0114] Figure 8 is a structural schematic diagram of a vehicle path point determination device provided in Example 4 of the present application. The device can be used to determine the coordinates of the vehicle's driving path in the DR coordinate system, where the device can be implemented by software and / or hardware and is generally integrated on the vehicle.

[0115] As shown in FIG8 , the device includes:

[0116] An acquisition module 410 is used to acquire an original vehicle path point sequence of the vehicle in a geodetic coordinate system;

[0117] A first conversion module 420 is configured to convert the original 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;

[0118] a determination module 430 for determining a slope of each point in the intermediate vehicle waypoint sequence;

[0119] The second conversion module 440 is configured to convert the intermediate vehicle path point sequence into a target vehicle path point sequence in a dead reckoning (DR) coordinate system according to the slope of each point.

[0120] The fourth embodiment of the present invention provides a vehicle path point determination device, comprising an acquisition module for acquiring an original vehicle path point sequence of a vehicle in a geodetic coordinate system; a first conversion module for converting the original 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 slope of each point in the intermediate vehicle path point sequence; and a second conversion 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 slope of each point. By converting the original 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 slope of each point in the intermediate vehicle path point sequence, the intermediate vehicle path point sequence is converted into a target vehicle path point sequence in a DR coordinate system, thereby enabling the coordinates of the vehicle in the DR coordinate system to be obtained conveniently and accurately, thereby solving the problem in the related art of being unable to accurately map the actual motion position of the vehicle to the DR coordinate system.

[0121] Furthermore, the first conversion module 420 includes:

[0122] Projecting the original vehicle path point sequence to obtain a first vehicle path point sequence;

[0123] The first vehicle path point sequence is translated to obtain a second vehicle path point sequence in a coordinate system with a starting point of the vehicle path as an origin, and the second vehicle path point sequence is used as an intermediate vehicle path point sequence.

[0124] Furthermore, the horizontal coordinate of the coordinate system where the first vehicle path point column is located is the distance from the point to the central meridian of the longitude zone, and the vertical coordinate is the distance from the point to the equator.

[0125] Furthermore, each point in the intermediate vehicle path point sequence includes a heading angle; accordingly, the determination module 430 further includes:

[0126] The points in the intermediate vehicle path point sequence whose heading angle difference with the heading angle of the vehicle path starting point is greater than a preset heading angle are deleted to obtain a filtered intermediate vehicle path point sequence.

[0127] Furthermore, the determination module 430 includes:

[0128] For each point in the intermediate vehicle path point sequence, determining the slopes of two points adjacent to the point;

[0129] The determined slope is determined as the slope of the point.

[0130] Furthermore, the second conversion module 440 includes:

[0131] sorting the slope of each point in the intermediate vehicle path point sequence;

[0132] Selecting a preset number of slopes from the sorted slopes according to a preset rule;

[0133] Calculating an average slope of the preset number of slopes;

[0134] The intermediate vehicle path point sequence is converted into a target vehicle path point sequence in a DR coordinate system according to the average slope.

[0135] Furthermore, converting the intermediate vehicle path point sequence into a target vehicle path point sequence in a DR coordinate system according to the average slope includes:

[0136] Calculating a first angle of the intermediate vehicle path point column in the coordinate system according to the average slope;

[0137] The intermediate vehicle path point sequence is converted into a target vehicle path point sequence in the DR coordinate system according to the first angle and the conversion formula.

[0138] Furthermore, the conversion formula includes:

[0139] Wherein, i is a positive integer, θ is the first angle, are the coordinates of the points in the middle vehicle pathpoint column, are the coordinates of the points in the target vehicle path point sequence.

[0140] Furthermore, the acquisition module 410 includes:

[0141] Determine the latitude and longitude coordinates and heading angle of the vehicle traveling a certain distance in a straight line through the vehicle-mounted integrated navigation system;

[0142] A set of original vehicle path point sequences is obtained according to the latitude and longitude coordinates and the heading angle.

[0143] The above-mentioned vehicle path point determination device can execute the vehicle path point determination method provided in any embodiment of the present application, and has the corresponding functional modules and beneficial effects of the execution method.

[0144] Example 5

[0145] 9 shows a schematic diagram of a vehicle 10 that can be used to implement an embodiment of the present application. The components, their connections and relationships, and their functions shown herein are merely examples and are not intended to limit the implementation of the present application described and / or claimed herein.

[0146] As shown in FIG9 , vehicle 10 includes at least one processor 11 and memory, such as a read-only memory (ROM) 12 and a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor, and processor 11 can perform various appropriate actions and processes based on the computer programs stored in ROM 12 or loaded from storage unit 18 into RAM 13. RAM 13 can also store various programs and data required for the operation of vehicle 10. Processor 11, ROM 12, and RAM 13 are interconnected via bus 14. An input / output (I / O) interface 15 is also connected to bus 14.

[0147] Various components in the vehicle 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the vehicle 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0148] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 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 running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the vehicle waypoint determination method.

[0149] In some embodiments, the vehicle waypoint determination method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on vehicle 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle waypoint determination method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to execute the vehicle waypoint determination method in any other suitable manner (e.g., via firmware).

[0150] Various implementations of the systems and techniques described above can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0151] Computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0152] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. A computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, 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 a 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.

[0153] To provide interaction with a user, the systems and techniques described herein can be implemented in a vehicle having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the 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 also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0154] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, 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.

[0155] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0156] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this application can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of this application can be achieved. This is not limited herein.

Claims

1. A method for determining a vehicle path point, comprising: Get the original vehicle path point sequence of the vehicle in the geodetic coordinate system; Converting the original 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 a slope for each point in the intermediate vehicle path point sequence; The intermediate vehicle path point sequence is converted into a target vehicle path point sequence in a dead reckoning DR coordinate system according to the slope of each point.

2. The method according to claim 1, wherein: The converting the original 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 comprises: Projecting the original vehicle path point sequence to obtain a first vehicle path point sequence; The first vehicle path point sequence is translated to obtain a second vehicle path point sequence in a coordinate system with a starting point of the vehicle path as an origin, and the second vehicle path point sequence is used as an intermediate vehicle path point sequence.

3. The method according to claim 2, wherein: The horizontal coordinate of the coordinate system where the first vehicle path point column is located is the distance from the point to the central meridian of the longitude zone, and the vertical coordinate is the distance from the point to the equator.

4. The method according to claim 1, wherein: Each point in the intermediate vehicle path point sequence includes a heading angle; accordingly, before determining the slope of each point in the intermediate vehicle path point sequence, the method further includes: The points whose heading angle difference between each point in the intermediate vehicle path point sequence and the heading angle of the vehicle path starting point is greater than the preset heading angle are deleted to obtain a filtered intermediate vehicle path point sequence.

5. The method according to claim 1 or 4, wherein: Determining the slope of each point in the intermediate vehicle path point sequence includes: For each point in the intermediate vehicle path point sequence, determining the slopes of two points adjacent to the point; The determined slope is determined as the slope of the point.

6. The method according to claim 1, wherein: The step of converting the intermediate vehicle path point sequence into a target vehicle path point sequence in a dead reckoning (DR) coordinate system according to the slope of each point includes: sorting the slope of each point in the intermediate vehicle path point sequence; Selecting a preset number of slopes from the sorted slopes according to a preset rule; Calculating an average slope of the preset number of slopes; The intermediate vehicle path point sequence is converted into a target vehicle path point sequence in a DR coordinate system according to the average slope.

7. The method according to claim 6, wherein: The step of converting the intermediate vehicle path point sequence into a target vehicle path point sequence in a DR coordinate system according to the average slope includes: Calculate a first angle of the intermediate vehicle path point column in the coordinate system according to the average slope; The intermediate vehicle path point sequence is converted into a target vehicle path point sequence in the DR coordinate system according to the first angle and the conversion formula.

8. The method according to claim 7, wherein: The conversion formula includes: Wherein, i is a positive integer, θ is the first angle, are the coordinates of the points in the middle vehicle path point column, are the coordinates of the points in the target vehicle path point sequence.

9. The method according to claim 1, wherein: The obtaining of the original vehicle path point sequence of the vehicle in the geodetic coordinate system comprises: Determine the latitude and longitude coordinates and heading angle of the vehicle traveling a certain distance in a straight line through the vehicle-mounted integrated navigation system; A set of original vehicle path point sequences is obtained according to the latitude and longitude coordinates and the heading angle.

10. A vehicle path point determination device, comprising: An acquisition module is used to obtain an original vehicle path point sequence of the vehicle in a geodetic coordinate system; A first conversion module, used to convert the original 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, configured to determine the slope of each point in the intermediate vehicle path point sequence; The second conversion module is used to convert the intermediate vehicle path point sequence into a target vehicle path point sequence in a dead reckoning DR coordinate system according to the slope of each point.

11. A vehicle comprising: at least one processor; as well as 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 the computer program is executed by the at least one processor so that the at least one processor can perform the vehicle path point determination method according to any one of claims 1 to 9.

12. A computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a processor to implement the vehicle path point determination method according to any one of claims 1 to 9 when executed.

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