Driving range determination method and device, vehicle and storage medium

Abstract

A driving range determination method and device, a vehicle and a storage medium, relating to the technical field of automobiles. The method comprises: an Internet of Vehicles platform (20) obtains a driving trajectory of a vehicle (10), the driving trajectory comprising position points constituting the driving trajectory of the vehicle (10) (S201); if the driving trajectory satisfies a driving range drawing condition, the Internet of Vehicles platform (20) generates a target closed graph on the basis of convex vertexes among the position points of the driving trajectory (S202); and the Internet of Vehicles platform (20) determines the driving range of the vehicle (10) on the basis of a graph vertex of the target closed graph (S203). The convex vertexes among the position points of the driving trajectory are obtained, and the convex vertexes are connected to generate the target closed graph, so that when the driving range of the vehicle is determined, the driving trajectory of the vehicle can be ensured to be within the driving range, the marked driving range is narrowed, and the precision of marking the driving range is improved.

Description

Driving range determination method, device, vehicle and storage medium

[0001] This application claims priority to a patent application filed with the Patent Office of China on November 21, 2023, with application number 202311553602.5 and invention name “Driving Range Determination Method, Device, Vehicle and Storage Medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of automotive technology, and in particular to a method, device, vehicle, and storage medium for determining a driving range. Background Art

[0003] During the vehicle R&D feedback process, vehicle driving data is collected to further understand vehicle usage, diagnose problems, optimize design, improve safety, and verify hypotheses. A key metric in vehicle driving data is the vehicle's driving range. A vehicle's driving range includes the vehicle's trajectory over a preset time period. However, due to the large number of vehicles associated with the platform, storing the driving range of each vehicle would result in a large amount of stored data. To reduce database storage pressure, vehicle driving ranges are generally divided by time and then stored separately. Summary of the Invention

[0004] The purpose of the present application is to provide a driving range determination method, device, vehicle and storage medium, aiming to solve the problem of inaccurate driving range marking in the traditional driving range determination process.

[0005] A first aspect of an embodiment of the present application provides a method for determining a driving range, the method comprising:

[0006] Acquiring a driving trajectory of a vehicle, wherein the driving trajectory includes position points constituting the driving trajectory of the vehicle;

[0007] If the driving trajectory satisfies a driving range drawing condition, generating a target closed figure based on convex vertices in the position points of the driving trajectory, wherein the driving range drawing condition indicates whether the driving trajectory of the vehicle can form a closed figure;

[0008] A driving range of the vehicle is determined based on the graph vertices of the target closed graph.

[0009] In some embodiments, determining the driving range of the vehicle based on the graph vertices of the target closed graph includes:

[0010] Determine the distance between any two convex vertices of the target closed figure;

[0011] According to the distances between multiple pairs of convex vertices, determine the two target vertices with the farthest distance;

[0012] A driving range of the vehicle is determined based on the two target vertices.

[0013] In some embodiments, determining the driving range of the vehicle based on the two target vertices includes:

[0014] Determine the center point of the two target vertices as the trajectory center point;

[0015] determining half of the distance between the two target vertices as the trajectory radius;

[0016] The driving range of the vehicle is determined with the center point of the trajectory as the center of the circle and the trajectory radius as the radius.

[0017] In some embodiments, generating a target closed graph based on convex vertices in the position points of the driving trajectory includes:

[0018] Determining convex vertices among the position points of the driving trajectory according to a convex hull algorithm;

[0019] The convex vertices are connected in sequence to generate the target closed graph.

[0020] In some embodiments, generating a target closed graph based on convex vertices in the position points of the driving trajectory includes:

[0021] performing coordinate conversion on the position coordinates of the position points in the driving trajectory to obtain coordinate scatter points in a map plane;

[0022] From the map plane, convex vertices among the position points of the driving trajectory are determined according to the convex hull algorithm.

[0023] In some embodiments, before performing coordinate conversion on the position coordinates of the position points in the driving trajectory to obtain coordinate scatter points in the map plane, the method further includes:

[0024] determining an area where the driving trajectory is located;

[0025] If the driving track is within the target area, the step of performing coordinate conversion on the position coordinates of the position points in the driving track to obtain coordinate scatter points in a map plane is performed.

[0026] In some embodiments, the method comprises:

[0027] If the driving trajectory does not meet the driving range drawing condition, obtaining the starting position of the driving trajectory;

[0028] The driving range of the vehicle is determined with the starting position as the origin and the preset radius as the radius.

[0029] In some embodiments, determining that the driving trajectory satisfies a driving range drawing condition includes:

[0030] If the number of position points in the driving trajectory is not less than a preset number and the position points in the driving trajectory are non-collinear position points, it is determined that the driving trajectory meets the driving range drawing condition.

[0031] In some embodiments, after determining the driving range of the vehicle based on the graph vertices of the target closed graph, the method further includes:

[0032] Mark the driving range on the map;

[0033] Push a map with the driving range marked on it to the user.

[0034] A second aspect of an embodiment of the present application provides a driving range determination device, the device comprising:

[0035] a first acquiring unit, configured to acquire a driving trajectory of a vehicle, wherein the driving trajectory includes position points constituting the driving trajectory of the vehicle;

[0036] a first determining unit configured to generate a target closed figure based on convex vertices among position points of the driving trajectory if the driving trajectory satisfies a driving range drawing condition, wherein the driving range drawing condition indicates whether the driving trajectory of the vehicle can form a closed figure;

[0037] The second determining unit is configured to determine the driving range of the vehicle based on the graph vertices of the target closed graph.

[0038] In some embodiments, the second determination unit is used to determine the distance between each pair of convex vertices in the target closed figure; determine the two target vertices with the farthest distance based on multiple groups of distances between each pair of convex vertices; and determine the driving range of the vehicle based on the two target vertices.

[0039] In some embodiments, the second determination unit is used to determine the center point of the two target vertices as the trajectory center point; determine half of the distance between the two target vertices as the trajectory radius; and determine the driving range of the vehicle with the trajectory center point as the center of the circle and the trajectory radius as the radius.

[0040] In some embodiments, the first determining unit is configured to determine convex vertices in the position points of the driving trajectory according to a convex hull algorithm; and connect the convex vertices in sequence to generate the target closed graph.

[0041] In some embodiments, the first determination unit is used to perform coordinate conversion on the position coordinates of the position points in the driving trajectory to obtain coordinate scatter points in the map plane; and determine the convex vertices in the position points of the driving trajectory from the map plane according to the convex hull algorithm.

[0042] In some embodiments, the apparatus further comprises:

[0043] a third determining unit, configured to determine an area where the driving track is located;

[0044] The first determining unit is further configured to perform coordinate conversion on the position coordinates of the position points in the driving trajectory to obtain coordinate scatter points in a map plane if the driving trajectory is within the target area.

[0045] In some embodiments, the apparatus comprises:

[0046] a second acquiring unit, configured to acquire a starting position of the driving trajectory if the driving trajectory does not meet a driving range drawing condition;

[0047] The fourth determining unit is configured to determine a driving range of the vehicle with the starting position as an origin and a preset radius as a radius.

[0048] In some embodiments, the apparatus further comprises:

[0049] The fifth determining unit is configured to determine that the driving trajectory satisfies a driving range drawing condition if the number of position points in the driving trajectory is not less than a preset number and the position points in the driving trajectory are non-collinear position points.

[0050] In some embodiments, the apparatus further comprises:

[0051] a marking unit, configured to mark the driving range on a map;

[0052] The push unit is used to push the map marked with the driving range to the user.

[0053] A third aspect of an embodiment of the present application provides a vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the driving range determination method as described above when executing the computer program.

[0054] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the driving range determination method as described above is implemented.

[0055] Compared with the prior art, the embodiments of the present disclosure have the following beneficial effects:

[0056] In an embodiment of the present application, by judging whether the driving trajectory of the vehicle satisfies the driving range drawing conditions, when the driving trajectory satisfies the driving range drawing conditions, the convex vertices in the position points of the driving trajectory are obtained and the convex vertices are connected to generate a target closed figure. In this way, when determining the driving range of the vehicle, it is possible to ensure that the driving trajectory of the vehicle is within the driving range, and the marked driving range is narrowed, thereby improving the accuracy of the marked driving range. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] FIG1 shows a schematic diagram of a driving range determination system involved in a driving range determination method provided by an exemplary embodiment;

[0058] FIG2 is a schematic flow chart showing a method for determining a driving range provided by an exemplary embodiment;

[0059] FIG3 is a schematic flow chart showing a method for determining a driving range provided by an exemplary embodiment;

[0060] FIG4 shows a schematic diagram of a driving trajectory provided by an exemplary embodiment;

[0061] FIG5 shows a schematic diagram of a closed figure provided by an exemplary embodiment;

[0062] FIG6 shows a schematic diagram of a driving range provided by an exemplary embodiment;

[0063] FIG7 shows a schematic diagram of a map with a driving range marked thereon provided by an exemplary embodiment;

[0064] FIG8 shows a schematic diagram of a map with a driving range marked thereon provided by an exemplary embodiment;

[0065] FIG9 shows a schematic diagram of a map with a driving range marked thereon provided by an exemplary embodiment;

[0066] FIG10 shows a schematic structural diagram of a driving range determination device provided by an exemplary embodiment;

[0067] FIG11 is a schematic structural diagram of a vehicle provided in an embodiment of the present disclosure. Modes for Carrying Out the Invention

[0068] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0069] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0070] To implement the vehicle's driving range determination function, a driving range determination system must be configured within the vehicle. Please refer to Figure 1 , which shows a schematic diagram of a driving range determination system involved in a driving range determination method. The system includes a vehicle 10, an Internet of Vehicles platform 20, and a database 30. The vehicle 10 is communicatively connected to the Internet of Vehicles platform 20, which in turn is communicatively connected to the database 30.

[0071] The vehicle 10 is equipped with a positioning module, which collects the vehicle's driving trajectory through the positioning module and uploads the collected driving trajectory as raw data to the vehicle networking platform 20. The vehicle networking platform 20 stores the raw data uploaded by the vehicle 10 in a database 30. The vehicle networking platform 20 includes a data processing unit, which is used to process the raw data in the database 30 to obtain the driving range of the vehicle 10. The raw data includes the location points that constitute the vehicle's 10 driving trajectory.

[0072] It should be noted that the data processing module can determine the timing for processing the raw data based on the resource usage of the IoV platform 20. For example, when the resource usage of the IoV platform is less than a preset usage rate, the data processing module can obtain the raw data from the database 30 and process the raw data. Specifically, the data processing module can process the raw data using an idle processor in the IoV platform 20. In this way, the raw data is processed when the IoV platform 20 is idle, preventing the resources of the IoV platform 20 from being occupied due to the processing of the raw data, thereby preventing IoV task congestion caused by resource occupation, and thereby improving the data processing efficiency of the IoV platform 20.

[0073] The IoV platform 20 can be any device with data processing capabilities. For example, the IoV platform 20 can be an independent server, a server cluster cloud composed of multiple servers, or a cloud computing machine. In the embodiments of the present application, the IoV platform 20 is not specifically limited.

[0074] In the related art, when the Internet of Vehicles platform 20 obtains the driving range of the vehicle 10 based on the original data, it can generally only locate the vehicle 10 based on the Global Positioning System (GPS) to obtain the location of the vehicle 10, and then determine the driving range of the vehicle 10 on that day based on the located location. However, the driving range obtained based on the positioning can generally only be narrowed down to the district or county range, and the marked range is large and not accurate enough.

[0075] During the vehicle R&D feedback process, vehicle driving data is collected to further understand vehicle usage, diagnose problems, optimize design, improve safety, and verify hypotheses. A key metric in vehicle driving data is the vehicle's driving range. A vehicle's driving range includes the vehicle's trajectory over a preset time period. However, due to the large number of vehicles associated with the platform, storing the driving range of each vehicle would result in a large amount of stored data. To reduce database storage pressure, vehicle driving ranges are generally divided by time and then stored separately.

[0076] In related technologies, a vehicle's driving range can generally only be determined by locating the vehicle using the Global Positioning System (GPS). The vehicle's location is then determined based on the located location. However, the driving range obtained based on the positioning can generally only be narrowed down to the district or county level, resulting in a large marking range and insufficient accuracy.

[0077] To address the above technical issues, the present application provides a method for determining a driving range. Referring to FIG2 , a flow chart illustrating a method for determining a driving range provided by an embodiment of the present application is shown. By way of example and not limitation, the method is applied to a vehicle networking platform.

[0078] S201, the Internet of Vehicles platform obtains a driving trajectory of a vehicle, where the driving trajectory includes position points constituting the driving trajectory of the vehicle.

[0079] The IoV platform obtains the vehicle's driving trajectory from the database. The driving trajectory is the vehicle's driving trajectory within a preset time period. The preset time period can be set as needed and is not specifically limited in the present embodiment. For example, the preset time period may be one day, three days, or one week.

[0080] Correspondingly, the Internet of Vehicles platform sends a data acquisition request to the database, and the data acquisition request carries a preset duration. The database sends the vehicle's driving trajectory within the preset duration carried in the acquisition request to the Internet of Vehicles platform, and the driving trajectory includes the location points that constitute the vehicle's driving trajectory.

[0081] In some embodiments, the IoV platform can retrieve the driving trajectory of a specified vehicle from a database. Accordingly, the data acquisition request also carries the identifier of the specified vehicle. Based on the identifier of the specified vehicle, the database retrieves the driving trajectory of the vehicle corresponding to the identifier, obtains the vehicle's driving trajectory within a preset time period, and transmits the driving trajectory to the IoV platform. Accordingly, the driving data also includes the identifier of the vehicle that generated the raw data. This identifier can be any other identifier that can distinguish a vehicle, such as a vehicle identification number (VIN).

[0082] After the vehicle networking platform obtains the driving trajectory, it determines whether the driving trajectory meets the driving range drawing condition, wherein the driving range drawing condition indicates whether the driving trajectory of the vehicle can form a closed figure. Referring to Figure 3, it shows a flowchart of a driving range determination method provided by an embodiment of the present application. When the driving trajectory meets the driving range drawing condition, the vehicle networking platform executes step S202. When the driving trajectory does not meet the driving range drawing condition, the vehicle networking platform obtains the starting position of the driving trajectory; with the starting position as the origin and the preset radius as the radius, the driving range of the vehicle is determined. The preset radius can be set as needed. In the embodiment of the present application, the preset radius is not specifically limited. For example, the preset radius can be 0, 5 meters, or 10 meters.

[0083] The driving range drawing condition can be set as needed. In the embodiment of the present application, the driving range drawing condition is not specifically limited. For example, whether the driving trajectory meets the driving range drawing condition can be determined based on the number of position points in the driving trajectory and whether there are collinear position points. Accordingly, if the number of position points in the driving trajectory is not less than a preset number and the position points in the driving trajectory are non-collinear position points, it is determined that the driving trajectory meets the driving range drawing condition. If the number of position points in the driving trajectory is less than a preset number, or there are no collinear position points in the driving trajectory, it is determined that the driving trajectory does not meet the driving range drawing condition. The preset data volume can be set as needed. In the embodiment of the present application, the preset number is not specifically limited. For example, the preset number can be 2, 3, etc. The collinearity of the position points can be represented by the same longitude or latitude of the position points or the same slope of the line connecting the position points and the origin.

[0084] In this implementation, by setting the driving range drawing conditions, driving trajectories that can form closed graphs are screened out from the driving trajectories, thereby preventing inaccurate driving range drawing caused by driving data not being a closed graph, thereby improving the accuracy of generating the driving range.

[0085] S202: If the driving trajectory meets the driving range drawing conditions, the Internet of Vehicles platform generates a target closed graph based on the convex vertices in the position points of the driving trajectory.

[0086] If the driving trajectory satisfies the driving range drawing conditions, the connected vehicle platform determines the convex vertices of the driving trajectory from the location points that comprise the driving trajectory and connects the convex vertices to generate the target closed graph. In some embodiments, the connected vehicle platform may determine the convex vertices among the location points of the driving trajectory using a convex hull algorithm. The process may include: determining the convex vertices among the location points of the driving trajectory using a convex hull algorithm; and sequentially connecting the convex vertices to generate the target closed graph.

[0087] Referring to FIG4 , FIG4 shows a driving trajectory composed of position points. In some embodiments, the position points in the driving trajectory are coordinate points collected by a positioning system and are represented by longitude and latitude. To facilitate calculations, the Internet of Vehicles platform converts the position coordinates of the position points in the driving trajectory and generates a target closed graph based on the converted position points. This process can be implemented by the following steps S2021-S2022, including:

[0088] S2021, the Internet of Vehicles platform performs coordinate conversion on the position coordinates of the location points in the driving trajectory to obtain coordinate scatter points in the map plane.

[0089] The original coordinates of the points in the driving trajectory are obtained by positioning the system and are represented by longitude and latitude. To facilitate the generation of the driving trajectory on the map, in this step, the coordinates of the points in the driving trajectory are converted to the map plane through the mapping relationship between longitude and latitude and the map coordinate system.

[0090] Prior to this step, referring to FIG3 , the Internet of Vehicles platform performs regional determination on the vehicle's driving data and performs coordinate conversion on the driving trajectory within the target area. The process may be as follows: the Internet of Vehicles platform determines the area where the driving trajectory is located; if the driving trajectory is within the target area, step S2021 is executed.

[0091] The target area can be set as needed and is not specifically limited in the embodiments of this application. For example, the target area can be divided by administrative region. In this implementation, by determining the area corresponding to the vehicle's driving data and performing coordinate conversion on the driving data within the target area, the security of the driving data is improved.

[0092] S2022, the Internet of Vehicles platform determines, from the map plane, according to a convex hull algorithm, convex vertices among the position points of the driving trajectory.

[0093] The IoV platform uses a convex hull algorithm to determine the convex vertices in the coordinate scatter points, and then connects the convex vertices to obtain the target closed graph. See Figure 5, which shows a target closed graph generated based on the convex vertices in the location points of the driving trajectory.

[0094] S203: The Internet of Vehicles platform determines the driving range of the vehicle based on the graph vertices of the target closed graph.

[0095] In some embodiments, the vehicle networking platform uses the target closed figure as the driving range of the vehicle. In some embodiments, the vehicle networking platform uses the minimum circumscribed circle of the target closed figure as the driving range of the vehicle. Accordingly, this step includes:

[0096] S2031: The Internet of Vehicles platform determines the center point of the two target vertices as the trajectory center point.

[0097] The IoV platform determines the coordinates of the two target vertices and, based on these coordinates, the coordinates of the trajectory's center point. For example, if target vertex 1 has coordinates (candidate longitude 1, candidate latitude 1) and target vertex 2 has coordinates (candidate longitude 2, candidate latitude 2), the trajectory's center point's longitude is (candidate longitude 1 + candidate longitude 2) / 2; the trajectory's center point's latitude is (candidate latitude 1 + candidate latitude 2) / 2.

[0098] S2032: The Internet of Vehicles platform determines half of the distance between the two target vertices as the trajectory radius.

[0099] The vehicle networking platform determines the distance between the two target vertices based on the position coordinates of the two target vertices. The vehicle networking platform may determine the distance between the two target vertices based on any distance determination algorithm. For example, the vehicle networking platform determines the distance between the two target vertices using a haversine formula and determines half of the distance between the two target vertices as the trajectory radius.

[0100] S2033, the Internet of Vehicles platform determines the driving range of the vehicle with the center point of the trajectory as the center of the circle and the radius of the trajectory as the radius.

[0101] 6 , a line is connected between the two target vertices, the midpoint of the line is used as the center point of the track, and half the length of the line is used as the radius of the track to determine the driving range of the vehicle.

[0102] In this implementation, the target closed figure corresponding to the vehicle's driving trajectory is determined according to the convex hull algorithm, and then the minimum circumscribed circle of the target closed figure is determined as the driving range of the vehicle. This ensures that the driving range can include multiple position points of the driving trajectory while narrowing the area of ​​the driving range and improving the accuracy of the driving range corresponding to the vehicle's driving trajectory.

[0103] After determining the vehicle's driving range, the connected vehicle platform stores the vehicle's driving range in a database. Upon receiving a user's request to obtain the vehicle's driving range, the platform pushes the marked driving range to the user. In some embodiments, the connected vehicle platform stores the trajectory center point and trajectory radius corresponding to the driving range in a database. Upon receiving a user's request to obtain the vehicle's driving range, the platform draws the vehicle's driving range on a map based on the trajectory center point and trajectory radius, and then pushes the map marked with the vehicle's driving range to the user's terminal. In some embodiments, the connected vehicle platform marks the driving range on the map and pushes the map marked with the driving range to the user.

[0104] In addition to the vehicle's driving range, the accompanying drawings labeled "driving range" may also include at least one of the vehicle's driving trajectory, starting position, ending position, and the center point of the driving range. Referring to Figures 7 to 9, Figure 7 illustrates a map including the driving range, driving trajectory, and starting position; Figure 8 illustrates a map including the driving range, driving trajectory, and ending position; and Figure 9 illustrates a map including the driving range, driving trajectory, and the center point of the driving range.

[0105] In this implementation, the driving range is stored in a database. When the user needs to obtain the vehicle's driving range, it can be directly obtained from the database, which improves the efficiency of obtaining the driving range. In addition, the driving range is displayed on the map, making the driving range more intuitive.

[0106] In an embodiment of the present application, by judging whether the driving trajectory of the vehicle satisfies the driving range drawing conditions, when the driving trajectory satisfies the driving range drawing conditions, the convex vertices in the position points of the driving trajectory are obtained and the convex vertices are connected to generate a target closed figure. In this way, when determining the driving range of the vehicle, it is possible to ensure that the driving trajectory of the vehicle is within the driving range, and the marked driving range is narrowed, thereby improving the accuracy of the marked driving range.

[0107] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0108] Referring to FIG10 , which shows a schematic structural diagram of a driving range determination device provided by the present application, the various units included are used to perform the various steps in the above embodiment. Referring to FIG10 , the driving range determination device includes:

[0109] A first acquiring unit 1001 is configured to acquire a driving trajectory of a vehicle, wherein the driving trajectory includes position points constituting the driving trajectory of the vehicle;

[0110] A first determining unit 1002 is configured to generate a target closed figure based on convex vertices in the position points of the driving trajectory if the driving trajectory satisfies a driving range drawing condition, wherein the driving range drawing condition indicates whether the driving trajectory of the vehicle can form a closed figure;

[0111] The second determining unit 1003 is configured to determine the driving range of the vehicle based on the graph vertices of the target closed graph.

[0112] In some embodiments, the second determination unit 1003 is used to determine the distance between each pair of convex vertices in the target closed figure; determine the two target vertices with the farthest distance based on multiple groups of distances between each pair of convex vertices; and determine the driving range of the vehicle based on the two target vertices.

[0113] In some embodiments, the second determination unit 1003 is used to determine the center point of the two target vertices as the trajectory center point; determine half of the distance between the two target vertices as the trajectory radius; and determine the driving range of the vehicle with the trajectory center point as the center of the circle and the trajectory radius as the radius.

[0114] In some embodiments, the first determining unit 1002 is configured to determine convex vertices in the position points of the driving trajectory according to a convex hull algorithm; and connect the convex vertices in sequence to generate the target closed graph.

[0115] In some embodiments, the first determination unit 1002 is used to perform coordinate conversion on the position coordinates of the location points in the driving trajectory to obtain coordinate scatter points in the map plane; and determine the convex vertices in the location points of the driving trajectory from the map plane according to the convex hull algorithm.

[0116] In some embodiments, the apparatus further comprises:

[0117] a third determining unit, configured to determine an area where the driving track is located;

[0118] The first determining unit 1002 is further configured to perform coordinate conversion on the position coordinates of the position points in the driving trajectory if the driving trajectory is within the target area, to obtain coordinate scatter points in the map plane.

[0119] In some embodiments, the apparatus comprises:

[0120] a second acquiring unit, configured to acquire a starting position of the driving trajectory if the driving trajectory does not meet the driving range drawing condition;

[0121] The fourth determining unit is configured to determine a driving range of the vehicle with the starting position as an origin and a preset radius as a radius.

[0122] In some embodiments, the apparatus further comprises:

[0123] The fifth determining unit is configured to determine that the driving trajectory satisfies the driving range drawing condition if the number of position points in the driving trajectory is not less than a preset number and the position points in the driving trajectory are non-collinear position points.

[0124] In some embodiments, the apparatus further comprises:

[0125] A marking unit, used to mark the driving range on the map;

[0126] The push unit is used to push the map marked with the driving range to the user.

[0127] In an embodiment of the present application, by judging whether the driving trajectory of the vehicle satisfies the driving range drawing conditions, when the driving trajectory satisfies the driving range drawing conditions, the convex vertices in the position points of the driving trajectory are obtained and the convex vertices are connected to generate a target closed figure. In this way, when determining the driving range of the vehicle, it is possible to ensure that the driving trajectory of the vehicle is within the driving range, and the marked driving range is narrowed, thereby improving the accuracy of the marked driving range.

[0128] FIG11 is a schematic diagram of a vehicle provided by an exemplary embodiment of the present application. As shown in FIG11 , the vehicle 11 of this embodiment includes: a processor 110, a memory 111, and a computer program 112 stored in the memory 111 and executable on the processor 110, such as a program for determining a driving range. When the processor 110 executes the computer program 112, it implements the steps in the aforementioned various driving range determination method embodiments, such as steps S201 to S203 shown in FIG2 . Alternatively, when the processor 110 executes the computer program 112, it implements the functions of the various units in the aforementioned device embodiments, such as the functions of units 1001 to 1003 shown in FIG10 .

[0129] For example, the computer program 112 can be divided into one or more units, which are stored in the memory 111 and executed by the processor 110 to complete the present application. The one or more units can be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 112 in the vehicle 11. For example, the computer program 112 can be divided into a first acquisition unit, a first determination unit, and a second determination unit. The specific functions of each module are as follows:

[0130] A first acquiring unit 1001 is configured to acquire a driving trajectory of a vehicle, wherein the driving trajectory includes position points constituting the driving trajectory of the vehicle;

[0131] A first determining unit 1002 is configured to generate a target closed figure based on convex vertices in the position points of the driving trajectory if the driving trajectory satisfies a driving range drawing condition, wherein the driving range drawing condition indicates whether the driving trajectory of the vehicle can form a closed figure;

[0132] The second determining unit 1003 is configured to determine the driving range of the vehicle based on the graph vertices of the target closed graph.

[0133] The vehicle 11 can be any vehicle with an obstacle detection function. The vehicle 11 can include, but is not limited to, a processor 110 and a memory 111. Those skilled in the art will appreciate that FIG11 is merely an example of the vehicle 11 and does not limit the vehicle 11. The vehicle 11 can include more or fewer components than shown, or a combination of certain components, or different components. For example, the vehicle 11 can also include input and output devices, network access devices, buses, and the like.

[0134] The processor 110 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0135] The memory 111 can be an internal storage unit of the vehicle 11, such as a hard drive or memory in the vehicle 11. Alternatively, the memory 111 can be an external storage device in the vehicle 11, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. Furthermore, the memory 111 can include both an internal storage unit and an external storage device in the vehicle 11. The memory 111 is used to store the computer program and other programs and data required by the terminal device. The memory 111 can also be used to temporarily store data that has been output or is about to be output.

[0136] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0137] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0138] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0139] In the embodiments provided in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0140] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0141] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0142] If the integrated module / unit is implemented as a software functional unit and sold or used as a standalone product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application can implement all or part of the process steps in the above-mentioned method embodiments by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal, and software distribution medium. It should be noted that the content of the computer-readable medium can be appropriately increased or decreased based on the requirements of legislation and patent practice in a jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media does not include electric carrier signals and telecommunication signals.

[0143] The embodiments of the present application further provide a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0144] The embodiments of the present application also provide a computer program product. When the computer program product is run on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0145] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A method for determining a driving range, characterized in that: The method comprises: Acquire a driving trajectory of a vehicle, wherein the driving trajectory includes position points constituting the driving trajectory of the vehicle; If the driving trajectory satisfies a driving range drawing condition, generating a target closed figure according to convex vertices in the position points of the driving trajectory, wherein the driving range drawing condition indicates whether the driving trajectory of the vehicle can form a closed figure; Based on the graph vertices of the target closed graph, a driving range of the vehicle is determined.

2. The method according to claim 1, characterized in that The determining the driving range of the vehicle based on the graph vertices of the target closed graph includes: Determine the distance between two convex vertices of the target closed figure; According to the distances between multiple groups of convex vertices, determine the two target vertices with the farthest distance; Based on the two target vertices, a driving range of the vehicle is determined.

3. The method according to claim 2, characterized in that The determining the driving range of the vehicle based on the two target vertices includes: Determine the center point of the two target vertices as the trajectory center point; Determine half of the distance between the two target vertices as the trajectory radius; The driving range of the vehicle is determined by taking the center point of the trajectory as the center of the circle and the radius of the trajectory as the radius.

4. The method according to claim 1, characterized in that The step of generating a target closed graph according to the convex vertices in the position points of the driving trajectory comprises: Determine the convex vertices among the position points of the driving trajectory according to the convex hull algorithm; The convex vertices are connected in sequence to generate the target closed graph.

5. The method according to claim 4, characterized in that The step of determining the convex vertices in the position points of the driving trajectory according to the convex hull algorithm comprises: Performing coordinate conversion on the position coordinates of the position points in the driving trajectory to obtain coordinate scatter points in the map plane; From the map plane, the convex vertices in the position points of the driving trajectory are determined according to the convex hull algorithm.

6. The method according to claim 5, characterized in that Before performing coordinate conversion on the position coordinates of the position points in the driving trajectory to obtain coordinate scatter points in the map plane, the method further includes: Determine the area where the driving track is located; If the driving track is within the target area, the step of performing coordinate conversion on the position coordinates of the position points in the driving track to obtain coordinate scatter points in a map plane is performed.

7. The method according to claim 1, characterized in that The method comprises: If the driving trajectory does not meet the driving range drawing condition, obtaining the starting position of the driving trajectory; The driving range of the vehicle is determined with the starting position as the origin and the preset radius as the radius.

8. The method according to any one of claims 1 to 7, characterized in that: Determining that the driving trajectory meets the driving range drawing condition includes: If the number of position points in the driving trajectory is not less than a preset number and the position points in the driving trajectory are non-collinear position points, it is determined that the driving trajectory meets the driving range drawing condition.

9. The method according to any one of claims 1 to 7, characterized in that: After determining the driving range of the vehicle based on the graphic vertices of the target closed graphic, the method further includes: Marking the driving range on a map; A map with the driving range marked is pushed to the user.

10. A vehicle, characterized in that: The vehicle includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the driving range determination method according to any one of claims 1 to 9 when executing the computer program.

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