Path determination method and apparatus, and device and medium

Abstract

A path determination method and apparatus, and an electronic device and a computer-readable storage medium. The method comprises: acquiring the current navigation information, current inertial navigation information and current identification information at the position of a vehicle itself (S110); if the current navigation information satisfies a coordinate determination condition, determining the current three-dimensional coordinate information of the vehicle itself in a navigation coordinate system on the basis of the current inertial navigation information and the current identification information (S120); and when a path determination condition is satisfied, determining three-dimensional path information of the current journey on the basis of determined path starting point information and the determined current three-dimensional coordinate information (S130). When there is no navigation signal, a three-dimensional coordinate value and feature position information are determined by means of the current inertial navigation information and the current identification information, and three-dimensional path information is drawn by means of the three-dimensional coordinate value and the feature position information, such that the positioning accuracy is ensured, automatic positioning and the automatic determination of a traveling path in a closed environment are realized, and the safety of a driver is guaranteed.

Description

A path determination method, device, equipment and medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on August 17, 2023, with application number 202311037528.1, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of vehicle technology, and in particular to a path determination method, device, equipment, and medium. Background Art

[0003] As more and more people use cars, the scenarios in which they operate are also expanding. Many enclosed environments, such as parking lots, are like black boxes to cars. For manned cars, satellite signals cannot penetrate thick walls, and without real-time navigation assistance, drivers often cannot determine the car's precise location or the exact route. Self-driving cars, on the other hand, require even more precise location and route to locate the car.

[0004] The relevant technology can be used by relevant personnel to draw a path map of a closed environment, or by the driver's own experience to select the corresponding road for driving.

[0005] However, the route maps drawn by humans are inaccurate and contain incomplete information. When the driver drives based on his experience, it is easy to go the wrong way and even cause danger.

[0006] Summary of the Invention

[0007] The present application provides a path determination method, apparatus, device, and medium to achieve path determination in a closed environment.

[0008] According to a first aspect of the present application, a path determination method is provided, comprising:

[0009] Obtain the current navigation information, current inertial navigation information and current identification information of the vehicle;

[0010] If the current navigation information satisfies the coordinate determination condition, determining the current three-dimensional coordinate information of the own vehicle in the navigation coordinate system according to the current inertial navigation information and the current identification information;

[0011] When the path determination condition is met, the three-dimensional path information of the current journey is determined based on the determined path starting point information and the current three-dimensional coordinate information.

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

[0013] An information acquisition module is used to obtain the current navigation information, current inertial navigation information and current identification information of the vehicle's location;

[0014] a coordinate determination module, configured to determine the current three-dimensional coordinate information of the vehicle in the navigation coordinate system based on the current inertial navigation information and the current identification information if the current navigation information satisfies the coordinate determination condition;

[0015] The path determination module is used to determine the three-dimensional path information of the current trip according to the determined path starting point information and the current three-dimensional coordinate information when the path determination condition is met.

[0016] According to a third aspect of the present application, an electronic device is provided, comprising:

[0017] 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 path determination method described in any embodiment of the present application.

[0020] According to a fourth 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 path determination method described in any embodiment of the present application when executed.

[0021] The technical solution of the embodiment of the present application is to obtain the current navigation information, current inertial navigation information and current identification information of the own vehicle; if the current navigation information meets the coordinate determination conditions, then the current three-dimensional coordinate information of the own vehicle in the navigation coordinate system is determined based on the current inertial navigation information and the current identification information; when the path determination conditions are met, the three-dimensional path information of the current trip is determined based on the determined path starting point information and the current three-dimensional coordinate information. When there is no navigation signal, the three-dimensional coordinate value and feature position information are determined by the current inertial navigation information and the current identification information, and the three-dimensional path information is drawn by the three-dimensional coordinate value and the feature position information. The accuracy of positioning is guaranteed, automatic positioning and automatic determination of the driving path in a closed environment are realized, and a more accurate and more comprehensive three-dimensional path is provided, which provides a guarantee for the safety of the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] FIG1 is a flow chart of a path determination method provided according to Embodiment 1 of the present application;

[0023] FIG2 is a flow chart of a path determination method provided according to Embodiment 2 of the present application;

[0024] FIG3 is an example flow chart of a path determination method provided according to Embodiment 2 of the present application;

[0025] FIG4 is a schematic structural diagram of a path determination device provided according to Embodiment 3 of the present application;

[0026] FIG5 is a schematic diagram of the structure of an electronic device implementing an embodiment of the present application. DETAILED DESCRIPTION

[0027] 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. The described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0028] 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.

[0029] Example 1

[0030] FIG1 is a flowchart of a path determination method according to a first embodiment of the present application. This embodiment is applicable to path determination in areas without navigation signals. The method can be performed by a path determination device, which can be implemented in the form of hardware and / or software and can be configured in an electronic device. As shown in FIG1 , the method includes:

[0031] S110: Obtain current navigation information, current inertial navigation information, and current identification information of the vehicle's location.

[0032] In this embodiment, the ego vehicle can be understood as the vehicle requiring route navigation. Current navigation information can include navigation coordinate signals and other information used for navigation. Current inertial navigation information can be understood as the difference between the ego vehicle's latitude, longitude, and altitude in the navigation coordinate system (NED / ENU) and the latitude, longitude, and altitude determined last time. Current identification information can be understood as information such as graphics or sensor identification used to indicate location, such as road signs.

[0033] Specifically, the vehicle to be determined can receive signals collected by corresponding modules, such as the navigation coordinate signal received by the navigation signal communication module, the current identification information received by the visual recognition module / RFID sensor module, and the inertial navigation information calculated by the inertial navigation modules such as IMU, etc. The processor can receive these information uploaded by the vehicle to be determined and obtain the current navigation information, current inertial navigation information and current identification information.

[0034] S120: If the current navigation information satisfies the coordinate determination condition, determine the current three-dimensional coordinate information of the own vehicle in the navigation coordinate system according to the current inertial navigation information and the current identification information.

[0035] In this embodiment, the coordinate determination condition can be determined by whether a navigation signal is present and whether path drawing is enabled. The navigation coordinate system can be NED or ENU. The current three-dimensional coordinate information can be understood as information consisting of the latitude and longitude of the vehicle's location, altitude, and feature location.

[0036] Specifically, relevant personnel of the own vehicle can choose to draw a path through the corresponding display device, and the processor can receive an instruction to draw a path. When receiving the instruction to draw a path, the processor can determine whether the navigation signal in the current navigation information disappears. When the navigation signal disappears, the coordinate determination condition is met. At this time, the vehicle has entered a closed environment without a navigation signal. The processor can use the current inertial navigation information and the three-dimensional coordinates determined at the previous moment to calculate the three-dimensional calculated coordinates of the own vehicle in the navigation coordinate system. When the current identification information includes coordinate identification information, it can also identify the corresponding three-dimensional actual coordinates, and correct the three-dimensional calculated coordinates through the three-dimensional actual coordinates. In addition, the current identification information also includes an identification of a special position, and the special position can be identified to obtain feature information, and the feature information and the determined three-dimensional coordinates are used as the current three-dimensional coordinate information.

[0037] S130: When the path determination condition is met, determine the three-dimensional path information of the current trip according to the determined path starting point information and the current three-dimensional coordinate information.

[0038] In this embodiment, the path determination conditions can be understood as the conditions for drawing a path, such as starting the path when the navigation signal is reacquired. The path starting point information can be understood as the path point where the navigation signal was last acquired before the navigation signal disappeared. The current distance can be understood as the distance traveled before the navigation signal disappeared. The three-dimensional path information can be understood as information indicating the vehicle's travel path before the navigation signal disappeared.

[0039] Specifically, the processor can judge through the navigation signal. If the navigation signal is received again at the next moment or multiple consecutive moments, the path determination condition is met. The historical three-dimensional coordinate information before the current three-dimensional coordinate information can be found through the determined path starting point information. The three-dimensional path of the current trip can be obtained by connecting the coordinate points in the historical three-dimensional coordinate information and the current three-dimensional coordinate information. The corresponding special position can also be marked in the three-dimensional path through the feature information in the historical three-dimensional coordinate information and the current three-dimensional coordinate information to obtain the three-dimensional path information of the current trip and store it. The processor can also upload the stored three-dimensional path information to the relevant server through the corresponding communication method so that other vehicles can obtain it.

[0040] The technical solution of the embodiment of the present application is to obtain the current navigation information, current inertial navigation information and current identification information of the own vehicle; if the current navigation information meets the coordinate determination conditions, then the current three-dimensional coordinate information of the own vehicle in the navigation coordinate system is determined based on the current inertial navigation information and the current identification information; when the path determination conditions are met, the three-dimensional path information of the current trip is determined based on the determined path starting point information and the current three-dimensional coordinate information. When there is no navigation signal, the three-dimensional coordinate value and feature position information are determined by the current inertial navigation information and the current identification information, and the three-dimensional path information is drawn by the three-dimensional coordinate value and the feature position information. The accuracy of positioning is guaranteed, automatic positioning and automatic determination of the driving path in a closed environment are realized, and a more accurate and more comprehensive three-dimensional path is provided, which provides a guarantee for the safety of the driver.

[0041] As a first optional embodiment of the first embodiment, after determining the three-dimensional path information of the current trip based on the determined path starting point information and the current three-dimensional coordinate information, the following may also be included:

[0042] Determine the target planning path based on the three-dimensional path information and the predetermined path planning information.

[0043] In this embodiment, the path planning information can be understood as the path of the closed environment obtained through the relevant external server. The target planning path can be understood as the path of the vehicle.

[0044] Specifically, if the vehicle passes through the path again, the processor can plan the path to the target location in the closed environment through the three-dimensional path information of the road section stored in the corresponding storage medium and the path planning information obtained through the network, and then select one or more paths that meet the conditions of shortest path or shortest time as the target planning path.

[0045] In a first optional embodiment of the first embodiment, a target planned path is determined by using the drawn three-dimensional path information and the received path planning information, thereby realizing path planning in a closed environment.

[0046] Example 2

[0047] FIG2 is a flow chart of a path determination method provided in Example 2 of the present application. This embodiment is a further refinement of the above embodiment. As shown in FIG2 , the method includes:

[0048] S201: Obtain current navigation information, current inertial navigation information, and current identification information of the vehicle's location.

[0049] S202: If the current navigation information satisfies the coordinate determination condition, determine the current first coordinate information according to the current inertial navigation information and the last acquired three-dimensional coordinate information.

[0050] In this embodiment, the previous three-dimensional coordinate information can be understood as the three-dimensional coordinate information determined at the previous moment, and the current first coordinate information can be understood as the latitude, longitude, and altitude values ​​calculated from the current inertial navigation information.

[0051] Specifically, if the current navigation information meets the coordinate determination conditions, the processor can calculate the difference between the latitude and longitude (X, Y) and height Z difference of the vehicle itself in the navigation coordinate system (NED / ENU) relative to the previous three-dimensional coordinate information calculated in the current inertial navigation information and the previous three-dimensional coordinate information to obtain the current first coordinate information.

[0052] For example, the current inertial navigation information determines that the vehicle has traveled +100 in X, +10 in Y, and 0 in Z relative to the previous moment, and the previous three-dimensional coordinate information is (X1, Y1, Z1). Then the current first coordinate information is (X1+100, Y1+10, Z1).

[0053] S203: Determine whether there is a coordinate identifier in the current identifier information, and determine the identifier determination result.

[0054] In this embodiment, the coordinate identifier can be understood as an identifier used to determine the coordinates, such as a road sign, etc. The identifier determination result can be understood as a result used to indicate whether the coordinate identifier exists.

[0055] Specifically, the processor can analyze the current identification information through the visual recognition module / RFID sensor module to determine whether it includes coordinate identification. For example, the visual recognition module can identify the collected image to determine whether it includes coordinates. The RFID sensor can identify the corresponding preset coordinate identification to determine whether it includes coordinates. Then, the processor can receive the recognition result of the visual recognition module / RFID sensor module to determine the identification judgment result.

[0056] S204: Determine whether there is a special location identifier in the current identification information, and determine the location determination result.

[0057] In this embodiment, the special location identifier can be understood as a number used to identify the special location, such as a parking floor number, a serial number, etc. The location determination result can be understood as a result indicating whether the special location identifier is included.

[0058] Specifically, the processor may identify whether there is a special location identifier in the current identification information through visual recognition or other methods, thereby determining the location judgment result.

[0059] S205 : Determine the current three-dimensional coordinate information of the vehicle in the navigation coordinate system according to the identification judgment result, the position judgment result, and the current first coordinate information.

[0060] Specifically, the processor may determine the current three-dimensional coordinate information of the vehicle in the navigation coordinate system according to the identification determination result, the position determination result and the current first coordinate information.

[0061] Furthermore, based on the above embodiment, the step of determining the current three-dimensional coordinate information of the vehicle in the navigation coordinate system according to the identification determination result, the position determination result and the current first coordinate information may include:

[0062] a1. Determine the current three-dimensional coordinate value of the vehicle in the navigation coordinate system based on the identification judgment result and the current first coordinate information.

[0063] Specifically, the processor can correct the current first coordinate information through the identification judgment result. If the identification judgment result is that there is no coordinate identification, the current first coordinate information will not be corrected, and the current first coordinate information will be used as the current three-dimensional coordinate value. If there is a coordinate identification, the coordinate information corresponding to the coordinate identification will be used as the current three-dimensional coordinate value.

[0064] Furthermore, based on the above embodiment, the step of determining the current three-dimensional coordinate value of the vehicle in the navigation coordinate system according to the identification judgment result and the current first coordinate information can be optimized as follows:

[0065] a11. If the identification judgment result is that the coordinate identification exists, the coordinate identification is parsed to determine the current second coordinate information corresponding to the coordinate identification.

[0066] In this embodiment, the current second coordinate information can be understood as the latitude, longitude and altitude values ​​determined by the coordinate identifier.

[0067] Specifically, if the identification determination result is that the coordinate identification exists, the processor may parse the coordinate identification to determine the current second coordinate information corresponding to the coordinate identification.

[0068] For example, different types of coordinate identifiers can be parsed using a visual recognition module and an RFID sensor. The visual recognition module can draw latitude, longitude, and altitude numbers from an image, such as white numbers on a black background. The visual recognition module will recognize these numbers and obtain the current second coordinate information. An RFID sensor can also be used to sense and read the current sensor (the coordinate identifier can also be in the form of a sensor). The current sensor has its own identifier, which stores latitude, longitude, and altitude data, and then reads the current second coordinate information.

[0069] a12. Use the current second coordinate information as the current three-dimensional coordinate value.

[0070] Specifically, when the current second coordinate information is determined, the processor may use the current second coordinate information as the current three-dimensional coordinate value.

[0071] a13. If the identification judgment result is that the coordinate identification does not exist, the current first coordinate information is used as the current three-dimensional coordinate value.

[0072] Specifically, if the identification determination result is that the coordinate identification does not exist, the processor may use the current first coordinate information as the current three-dimensional coordinate value.

[0073] b1. Determine the current feature information based on the position judgment result and the current three-dimensional coordinate value.

[0074] In this embodiment, the current characteristic information can be understood as information used to indicate a special location, such as a building number, a serial number, and the like.

[0075] Specifically, the processor may determine whether there is current feature information corresponding to the special position at the current three-dimensional coordinate value based on whether there is a special position in the position judgment result.

[0076] Furthermore, based on the above embodiment, the step of determining the current feature information according to the position determination result and the current three-dimensional coordinate value can be optimized as follows:

[0077] b11. If the identification judgment result is that the location identification exists, the location description information in the location identification is extracted, and the location description information is used as the current feature information corresponding to the current three-dimensional coordinate value.

[0078] In this embodiment, the location description information can be understood as information used to describe the characteristics of the location, such as the elevator entrance of the No. 2 shopping mall on the second floor of the basement.

[0079] Specifically, if the identification judgment result is that there is a location identifier, the processor can extract the location description information in the location identifier and use the location description information as the current feature information corresponding to the current three-dimensional coordinate value. The current feature information can also be manually added by the user.

[0080] b12. If the identification judgment result is that the position identification does not exist, then null is used as the current feature information corresponding to the current three-dimensional coordinate value.

[0081] Specifically, if the identification determination result is that the position identification does not exist, the processor may use "null" as the current feature information corresponding to the current three-dimensional coordinate value.

[0082] c1. Use the current three-dimensional coordinates and current feature information as the current three-dimensional coordinate information.

[0083] S206: Determine historical three-dimensional coordinate information between the current three-dimensional coordinate information and the path starting point information.

[0084] In this embodiment, the historical three-dimensional coordinate information can be understood as the three-dimensional coordinate information between the current three-dimensional coordinate information and the path starting point information.

[0085] Specifically, the processor may search the corresponding storage medium according to the corresponding storage order or storage time to determine the historical three-dimensional coordinate information between the current three-dimensional coordinate information and the path starting point information.

[0086] S207 : Draw a three-dimensional path according to each historical three-dimensional coordinate value in each historical three-dimensional coordinate information and the current three-dimensional coordinate value in the current three-dimensional coordinate information.

[0087] In this embodiment, the three-dimensional path can be understood as a drawn graph that only includes the path.

[0088] Specifically, the processor may connect points formed by each historical 3D coordinate value in each historical 3D coordinate information and points formed by the current 3D coordinate value in the current 3D coordinate information to draw a corresponding 3D path.

[0089] S208 : Mark corresponding points in the three-dimensional path according to the historical feature information in each historical three-dimensional coordinate information and the current feature information in the current three-dimensional coordinate information to obtain the three-dimensional path information of the current trip.

[0090] In this embodiment, the historical characteristic information can be understood as historical characteristics.

[0091] Specifically, the processor can search in the drawn three-dimensional path based on the historical feature information in the historical three-dimensional coordinate information and the current feature information in the current three-dimensional coordinate information, determine the point corresponding to its three-dimensional coordinate value in the three-dimensional path and mark it, so that the point can display the corresponding feature information and obtain the three-dimensional path information of the current journey.

[0092] The technical solution of the embodiment of the present application, when there is no navigation signal, uses the current second coordinate information determined by the current identification information to correct the current first coordinate information determined by the current inertial navigation information to obtain the current three-dimensional coordinate value, and then determines the current three-dimensional coordinate information by combining the current feature information determined by the current identification information with the current three-dimensional coordinate value. The three-dimensional path is drawn using the current three-dimensional coordinate value and the historical three-dimensional coordinate values ​​between the starting points of the path, and feature marking is performed on the drawn three-dimensional path based on the feature information to obtain the three-dimensional path information. This ensures the accuracy of positioning, realizes automatic positioning and automatic determination of the driving path in a closed environment, provides a more accurate and comprehensive three-dimensional path, and provides protection for the driver's safety.

[0093] For example, in order to facilitate understanding of this solution, a specific example is used as a demonstration. FIG3 is an example flow chart of a path determination method provided according to the second embodiment of the present application. As shown in FIG3 ,

[0094] S31, obtaining current navigation information, current inertial navigation information and current identification information;

[0095] S32: whether to start drawing a three-dimensional path, if yes, jump to step S33, otherwise jump to step S31;

[0096] S33, whether the navigation signal in the current navigation information disappears, if so, jump to step S34, otherwise jump to step S31;

[0097] S34, determine whether there is a coordinate mark in the current mark information, if so, jump to step S35, otherwise jump to step S36;

[0098] S35, determining the current three-dimensional coordinate value according to the coordinate identifier;

[0099] S36, determining the current three-dimensional coordinate value according to the current inertial navigation information;

[0100] S37, determine whether there is a location identifier in the current identifier information, if yes, jump to step S38, otherwise jump to step S39;

[0101] S38, extracting the location description information in the location identifier as current feature information;

[0102] S39, taking "empty" as current feature information;

[0103] S40, determine whether the path determination condition is met, if so, jump to step S41, otherwise jump to step S31;

[0104] S41, determining historical three-dimensional coordinate information between the current three-dimensional coordinate information and the path starting point information;

[0105] S42: Determine three-dimensional path information based on each historical three-dimensional coordinate information and the current three-dimensional coordinate information.

[0106] Example 3

[0107] FIG4 is a schematic diagram of the structure of a path determination device provided in Example 3 of the present application. As shown in FIG4 , the device includes: an information acquisition module 41, a coordinate determination module 42 and a path determination module 43.

[0108] The information acquisition module 41 is used to obtain the current navigation information, current inertial navigation information and current identification information of the vehicle;

[0109] A coordinate determination module 42 is configured to determine the current three-dimensional coordinate information of the vehicle in the navigation coordinate system based on the current inertial navigation information and the current identification information if the current navigation information satisfies the coordinate determination condition;

[0110] The path determination module 43 is configured to determine the three-dimensional path information of the current trip according to the determined path starting point information and the current three-dimensional coordinate information when the path determination condition is met.

[0111] The technical solution of the embodiment of the present application is to obtain the current navigation information, current inertial navigation information and current identification information of the own vehicle; if the current navigation information meets the coordinate determination conditions, then the current three-dimensional coordinate information of the own vehicle in the navigation coordinate system is determined based on the current inertial navigation information and the current identification information; when the path determination conditions are met, the three-dimensional path information of the current trip is determined based on the determined path starting point information and the current three-dimensional coordinate information. When there is no navigation signal, the three-dimensional coordinate value and feature position information are determined by the current inertial navigation information and the current identification information, and the three-dimensional path information is drawn by the three-dimensional coordinate value and the feature position information. The accuracy of positioning is guaranteed, automatic positioning and automatic determination of the driving path in a closed environment are realized, and a more accurate and more comprehensive three-dimensional path is provided, which provides a guarantee for the safety of the driver.

[0112] Furthermore, the coordinate determination module 42 includes:

[0113] a first determining unit, configured to determine current first coordinate information based on the current inertial navigation information and the last acquired three-dimensional coordinate information;

[0114] A first judgment unit is used to judge whether there is a coordinate identifier in the current identifier information and determine an identifier judgment result;

[0115] A second judgment unit is used to judge whether there is a special location identifier in the current identification information and determine a location judgment result;

[0116] The second determining unit is used to determine the current three-dimensional coordinate information of the own vehicle in the navigation coordinate system according to the identification judgment result, the position judgment result and the current first coordinate information.

[0117] The third determining unit is configured to determine the current feature information according to the position determination result and the current three-dimensional coordinate information.

[0118] Furthermore, the second determining unit includes:

[0119] A first determining subunit is configured to determine a current three-dimensional coordinate value of the vehicle in a navigation coordinate system according to the identification judgment result and the current first coordinate information;

[0120] A second determining subunit is configured to determine current feature information based on the position determination result and the current three-dimensional coordinate value;

[0121] The third determining subunit is configured to use the current three-dimensional coordinate and the current feature information as the current three-dimensional coordinate information.

[0122] The first determining subunit is specifically configured to:

[0123] If the identification judgment result is that the coordinate identification exists, the coordinate identification is parsed to determine the current second coordinate information corresponding to the coordinate identification;

[0124] Using the current second coordinate information as the current three-dimensional coordinate value;

[0125] If the identification judgment result is that the coordinate identification does not exist, the current first coordinate information is used as the current three-dimensional coordinate value.

[0126] The second determining subunit is specifically configured to:

[0127] If the identification judgment result is that a location identifier exists, extracting location description information in the location identifier, and using the location description information as current feature information corresponding to the current three-dimensional coordinate value;

[0128] If the identification judgment result is that the position identification does not exist, then null is used as the current feature information corresponding to the current three-dimensional coordinate value.

[0129] Furthermore, the path determination module 43 is specifically configured to:

[0130] Determine historical three-dimensional coordinate information between the current three-dimensional coordinate information and the path starting point information;

[0131] Drawing a three-dimensional path according to each historical three-dimensional coordinate value in each of the historical three-dimensional coordinate information and the current three-dimensional coordinate value in the current three-dimensional coordinate information;

[0132] According to each historical feature information in each historical three-dimensional coordinate information and the current feature information in the current three-dimensional coordinate information, the corresponding points in the three-dimensional path are marked to obtain the three-dimensional path information of the current trip.

[0133] Optionally, the device further includes:

[0134] The path planning module is used to determine the target planning path according to the three-dimensional path information and the predetermined path planning information.

[0135] The path determination device provided in the embodiments of the present application can execute the path determination method provided in any embodiment of the present application, and has the corresponding functional modules and beneficial effects of the execution method.

[0136] Example 4

[0137] FIG5 shows a block diagram of an electronic device 50 that can be used to implement an embodiment of the present application. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or required herein.

[0138] As shown in FIG5 , the electronic device 50 includes at least one processor 51 and a memory, such as a read-only memory (ROM) 52 and a random access memory (RAM) 53, that is communicatively connected to the at least one processor 51. The memory stores a computer program that can be executed by the at least one processor, and the processor 51 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 52 or the computer program loaded from the storage unit 58 into the random access memory (RAM) 53. Various programs and data required for the operation of the electronic device 50 can also be stored in the RAM 53. The processor 51, ROM 52, and RAM 53 are connected to each other via a bus 54. An input / output (I / O) interface 55 is also connected to the bus 54.

[0139] Multiple components in the electronic device 50 are connected to the I / O interface 55, including an input unit 56, such as a keyboard, a mouse, etc.; an output unit 57, such as various types of displays, speakers, etc.; a storage unit 58, such as a magnetic disk, an optical disk, etc.; and a communication unit 59, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 59 allows the electronic device 50 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0140] The processor 51 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 51 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors that run machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, processor, microprocessor, etc. The processor 51 executes the various methods and processes described above, such as the path determination method.

[0141] In some embodiments, the path determination method can be implemented as a computer program that is tangibly contained in a computer-readable storage medium, such as storage unit 58. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 50 via ROM 52 and / or communication unit 59. When the computer program is loaded into RAM 53 and executed by processor 51, one or more steps of the path determination method described above can be performed. Alternatively, in other embodiments, processor 51 can be configured to perform the path determination method in any other suitable manner (e.g., by means of firmware).

[0142] Various embodiments of the systems and techniques described herein 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), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments 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.

[0143] Computer programs for implementing the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so 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 can 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.

[0144] 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 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.

[0145] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device 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 electronic device. 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).

[0146] 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.

[0147] 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.

[0148] 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 path determination method, comprising: Obtain the current navigation information, current inertial navigation information and current identification information of the vehicle; If the current navigation information satisfies the coordinate determination condition, determining the current three-dimensional coordinate information of the own vehicle in the navigation coordinate system according to the current inertial navigation information and the current identification information; When the path determination condition is met, the three-dimensional path information of the current trip is determined according to the determined path starting point information and the current three-dimensional coordinate information.

2. The method according to claim 1, wherein: The determining, according to the current inertial navigation information and the current identification information, the current three-dimensional coordinate information of the own vehicle in the navigation coordinate system includes: Determine the current first coordinate information according to the current inertial navigation information and the last three-dimensional coordinate information obtained; Determine whether there is a coordinate identifier in the current identifier information, and determine the identifier determination result; Determine whether there is a special location identifier in the current identification information, and determine a location determination result; The current three-dimensional coordinate information of the own vehicle in the navigation coordinate system is determined according to the identification judgment result, the position judgment result and the current first coordinate information.

3. The method according to claim 2, wherein: The determining, according to the identification determination result, the position determination result and the current first coordinate information, the current three-dimensional coordinate information of the own vehicle in the navigation coordinate system includes: Determine the current three-dimensional coordinate value of the own vehicle in the navigation coordinate system according to the identification judgment result and the current first coordinate information; Determining current feature information according to the position determination result and the current three-dimensional coordinate value; The current three-dimensional coordinates and the current feature information are used as the current three-dimensional coordinate information.

4. The method according to claim 3, wherein: The determining, according to the identification judgment result and the current first coordinate information, the current three-dimensional coordinate value of the own vehicle in the navigation coordinate system includes: If the identification judgment result is that the coordinate identification exists, the coordinate identification is parsed to determine the current second coordinate information corresponding to the coordinate identification; Using the current second coordinate information as the current three-dimensional coordinate value; If the identification result is that there is no coordinate identification, the current first coordinate information is used as The current three-dimensional coordinate value.

5. The method according to claim 3, wherein: The determining of current feature information according to the position determination result and the current three-dimensional coordinate value includes: If the identification judgment result is that there is a position identification, extracting the position description information in the position identification, and using the position description information as the current feature information corresponding to the current three-dimensional coordinate value; If the identification judgment result is that there is no position identification, then null is used as the current feature information corresponding to the current three-dimensional coordinate value.

6. The method according to claim 1, wherein: Determining the three-dimensional path information of the current trip according to the determined path starting point information and the current three-dimensional coordinate information includes: Determine historical three-dimensional coordinate information between the current three-dimensional coordinate information and the path starting point information; Draw a three-dimensional path according to each historical three-dimensional coordinate value in each of the historical three-dimensional coordinate information and the current three-dimensional coordinate value in the current three-dimensional coordinate information; According to each historical feature information in each historical three-dimensional coordinate information and the current feature information in the current three-dimensional coordinate information, the corresponding points in the three-dimensional path are marked to obtain the three-dimensional path information of the current trip.

7. The method according to claim 1, after determining the three-dimensional path information of the current trip according to the determined path starting point information and the current three-dimensional coordinate information, further comprises: A target planning path is determined according to the three-dimensional path information and predetermined path planning information.

8. A path determination device, comprising: An information acquisition module is used to obtain the current navigation information, current inertial navigation information and current identification information of the vehicle; A coordinate determination module, configured to determine the current three-dimensional coordinate information of the own vehicle in the navigation coordinate system according to the current inertial navigation information and the current identification information if the current navigation information satisfies the coordinate determination condition; The path determination module is used to determine the three-dimensional path information of the current trip according to the determined path starting point information and the current three-dimensional coordinate information when the path determination condition is met.

9. An electronic device, 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 path determination method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a processor to implement the path determination method according to any one of claims 1 to 7 when executed.

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