CN109633719A - The target trajectory recognition methods that vehicle follows - Google Patents
The target trajectory recognition methods that vehicle follows Download PDFInfo
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- CN109633719A CN109633719A CN201811572859.4A CN201811572859A CN109633719A CN 109633719 A CN109633719 A CN 109633719A CN 201811572859 A CN201811572859 A CN 201811572859A CN 109633719 A CN109633719 A CN 109633719A
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- vehicle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/52—Determining velocity
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides a kind of target trajectory recognition methods that vehicle follows, comprising: in preset duration, vehicle sends request message to server with preset frequency, and the request message includes the ID for following target；Multiple response messages that server is sent in preset duration are received, each response message includes the GPS position information for following target that the vehicle is followed；The GPS position information includes temporal information and longitude and latitude data；According to the temporal information, described the corresponding longitude and latitude data of GPS position information of target is followed to splice multiple in preset duration；According to splicing result, the target trajectory of target is followed described in determination.The time for obtaining track is saved as a result, improves the efficiency of track acquisition.
Description
Technical field
The present invention relates to data processing field more particularly to a kind of target trajectory recognition methods that vehicle follows.
Background technique
With the development of economy and the emergence of artificial intelligence technology, automatic Pilot technology is also increasingly by the blueness in market
It looks at.
In the prior art, automatic cleaning equipment passes through the multiple sensor combinations of itself, these sensors are by complexity
Path planning algorithm carries out path planning and is cleaned according to the path planned.But these path plannings all only needles
The track of itself is planned, not can determine that the track of front motive objects.
Summary of the invention
The purpose of the embodiment of the present invention is that a kind of target trajectory recognition methods that vehicle follows is provided, to solve the prior art
The problem of.
To solve the above problems, the present invention provides a kind of target trajectory recognition methods that vehicle follows, the method packet
It includes:
In preset duration, vehicle sends request message to server with preset frequency, and the request message includes vehicle
The ID for following target followed；
Multiple response messages that server is sent in preset duration are received, each response message includes described follows
The GPS position information of target；The GPS position information includes temporal information and longitude and latitude data；
According to the temporal information, multiple longitude and latitude data in preset duration are spliced；
According to splicing result, the target trajectory of target is followed described in determination.
In one possible implementation, before the method further include:
Obtain the ID for following target that the vehicle is followed；
The ID of the vehicle and the ID for following target are associated.
In one possible implementation, before the method further include:
The GPS position information of acquisition vehicle itself and the vehicles identifications ID；
The GPS position information of the vehicle and vehicle ID are sent to server.
In one possible implementation, after the method further include:
The GPS position information of the one or more targets for the vehicle periphery that the server is sent is received,
According to the GPS position information of the GPS position information of the vehicle itself and the target, determine it is described with one or
The relative positional relationship of multiple targets；
Relationship depending on that relative position judges the safe driving information of the vehicle.
In one possible implementation, according to the temporal information, to multiple longitudes and latitudes in preset duration
Data are spliced, and are specifically included:
According to the temporal information, each longitude and latitude data for following target are ranked up；
According to ranking results, spliced.
In one possible implementation, the method also includes:
It obtains the vehicle and follows the distance between target with described；
When the distance is not less than preset distance threshold, the first warning message is generated；
By the audio playing unit of vehicle, first warning message is played.
In one possible implementation, after the method further include:
It obtains the vehicle and follows the distance between target with described；
When the distance is not less than preset distance threshold, the second warning message is generated；The second warning message packet
Include the estimated waiting time for following target；
By second warning message be sent to it is described follow target so that described follow target estimated to be waited according to described
Duration is waited.
In one possible implementation, according to the GPS position information for following target, determine described in follow target
Velocity information；
According to the GPS position information of the vehicle, the velocity information of the vehicle is determined；
According to the velocity information for following target, the velocity information of vehicle and safe distance, when calculating estimated wait
It is long.
In one possible implementation, the acquisition vehicle follows the distance between target with described, specifically
Include:
When having ultrasonic radar on vehicle, by the ultrasound data of the ultrasonic radar, the vehicle is calculated
The distance between target is followed with described.
In one possible implementation, described according to splicing result, determine described in follow target target trajectory it
Afterwards, the method also includes:
Calculate the first curvature of the curve in target trajectory and/or the torsion of broken line；
Inverse by the first curvature, the torsion respectively with the minimum transition radius of the vehicle compares
Compared with；
When the first curvature or the torsion are greater than the inverse of minimum transition radius, it is smoothed.
By the target trajectory recognition methods followed using vehicle provided in an embodiment of the present invention, vehicle can pass through kimonos
Business device interacts, and obtains the GPS position information for following target, and according to GPS position information, determines the target track for following target
Mark, realize cannot with when following the target directly to be communicated, indirectly can obtain following the location information of target, and save
The time for obtaining target trajectory improves the efficiency for obtaining target trajectory.
Detailed description of the invention
Fig. 1 is the target trajectory recognition methods flow diagram that vehicle provided in an embodiment of the present invention follows.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that for just
Part relevant to related invention is illustrated only in description, attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
It before application method provided by the invention carries out following the track determination of target, first to determine and follow target, close
Target is followed in how to determine, depending on the application field of this method, when applying the method in cleaning applications, follows mesh
Mark can be cleanup crew or cleaning vehicle, can be by carrying cleanup crew when following target is cleanup crew
Terminal, such as mobile phone or wearable device, for example, the mark (Identify, ID) of wrist-watch, bracelet, headband etc. and vehicle
ID is associated, and determination follows target, then, can be followed to the cleanup crew, cannot be cleaned with realizing in cleaning vehicle
Region, pass through interaction, carry out man-computer cooperation cleaning.When following target to clean vehicle, the ID phase of two cars can be passed through
Then association is carried out with server respectively each by global positioning system (Global Positioning System, GPS)
Interaction, then, vehicle can follow cleaning vehicle, to cleaning vehicle cooperative complete clean, or for clean vehicle provide
Such as the service such as charging.
Fig. 1 is the target trajectory recognition methods flow diagram that vehicle provided in an embodiment of the present invention follows.This method is answered
In automatic driving vehicle, especially in the cleaning vehicle of automatic Pilot, the available target trajectory for following target of vehicle is cleaned,
And it is performed corresponding processing according to the target trajectory.The executing subject of this method can be the control unit of automatic driving vehicle.
Control unit for vehicle can be understood as the control module for controlling vehicle driving.As shown in Figure 1, this method includes following step
It is rapid:
Step 101, in preset duration, vehicle sends request message, request message packet to server with preset frequency
Include the ID for following target that vehicle is followed.
It before step 101, can also include: the GPS position information and vehicles identifications ID for obtaining vehicle itself.
The GPS position information of vehicle and vehicle ID are sent to server.
Specifically, being interacted in real time with server in vehicle travel process.For example, vehicle can be obtained by GPS
It is derived from body GPS position information, and those GPS position informations and vehicle self ID are sent to server.
Wherein, which includes longitude and latitude data, velocity information, temporal information etc..
The GPS position information and ID of the available multiple targets of server.Multiple targets can be in a certain range
Vehicle, terminal, wearable device, such as wrist-watch, wrist strap, headband etc., in the range, those multiple targets and vehicle can be real
When report respective GPS position information and ID to server.Those information can be stored in the database of server,
Or stored in the storage unit of expansion equipment, the application does not limit this.
Wherein, a certain range can be within the scope of server peripheral 1000m.For example, within the scope of the 1000m of periphery, have A,
B, C and D a total of four target, then this four targets, all can report GPS position information and ID to server.
It is stored with the GPS position information of multiple targets in server, the GPS position information of itself is sent to clothes in vehicle
It is engaged in after device, server can send a certain range of one or more targets to vehicle according to the GPS position information of vehicle
GPS position information, vehicle can according to the GPS position information of one or more targets, determine itself and one or more targets it
Between relative positional relationship, thus, it is possible to the safe driving information of vehicle be judged, for example, whether vehicle can collide.
Step 102, multiple response messages that server is sent in preset duration are received, each response message includes following
The GPS position information of target；GPS position information includes longitude and latitude data and temporal information.
Specifically, since vehicle has been associated with the ID of target is followed in advance, vehicle can be by server
Request message is sent, and obtains the form of server response, inquiry follows the GPS position information of target.
Wherein, preset frequency can be interval 1 minute, and preset duration can be 60 minutes, at this point, vehicle is available
To 60 GPS position informations for following target, which may include 60 longitude and latitude data and corresponding
60 temporal informations.
Temporal information herein can be the time that server receives the GPS position information of target upload.
Step 103, according to temporal information, multiple longitude and latitude data in preset duration are spliced.
Step 104, according to splicing result, the target trajectory for following target is determined.
Specifically, can be according to the temporal information in each GPS position information for following target, to each target that follows
Longitude and latitude data are ranked up；According to ranking results, spliced, obtains the target trajectory for following target.
Wherein, in sequence, longitude and latitude data can be subjected to geographical coordinate conversion, is converted to common geographical location number
According to.
For example, collected longitude and latitude data include 1,2,3,4,5, corresponding temporal information is 10:51,10:52,10:
54,10:53 and 10:55 is then 1,2,4,3,5 to these longitude and latitude data sortings, splices to it, available to include
The target trajectory of 5 discrete points.
It, can be according to its two adjacent GPS location if some temporal information lacks during being spliced
Velocity information in information carries out trajectory predictions.Connect example, if time 10:53 lack, can according to 2 and 3 the two
Velocity information in GPS position information predicts the track between 2 to 3.
As to how predicted, it can be according to the average value of the velocity information in GPS position information, or weighted average
Value, to determine 4 longitude and latitude data.For example, the average speed or weighted mean velocity at 2 and 3 are taken, to determine 4 longitude and latitude
Degree evidence can splice 1,2,4,3,5 as discrete path point after determining 4 longitude and latitude data.It is real as a result,
Show in GPS position information missing, adjacent GPS position information can also have been followed, in the GPS position information for carrying out the missing
Longitude and latitude data prediction.
Further, after step 104, further includes: obtain vehicle and follow the distance between target；
When distance is not less than preset distance threshold, the first warning message is generated；
By the audio playing unit of vehicle, the first warning message is played.
Specifically, when vehicle and follow it is excessive at a distance from target, be more than distance threshold when, calculating distance after, generation
Signal is controlled, which can control audio playing unit and play the first warning message.First warning message can be language
Sound casting is also possible to certain specific sound for example, " with following target range excessively close " etc., such as " too " etc., the application
This is not limited.
In one example, vehicle can calculate the two according to GPS position information and the GPS position information for following target
Distance.
In another example, when being equipped with binocular camera on vehicle, the binocular that can use binocular camera is surveyed
Away from principle, calculates vehicle and follow the distance between target.
In further example, when being equipped with ultrasonic radar on vehicle, it can be acquired by ultrasonic radar super
Sonic data calculates vehicle and follows the distance between target using supersonic sounding principle.
When vehicle with follow be less than safe distance at a distance from target when, vehicle can carry out tight according to distance between the two
Anxious braking.
Further, after step 104, further includes:
When distance is not less than preset distance threshold, the second warning message is generated；Second warning message includes following mesh
Target estimated waiting time；
Second warning message is sent to and follows target, waiting time is waited on the estimation so as to follow target.
Specifically, when following target to clean vehicle or cleaner, if target is followed to exceed at a distance from vehicle
The second warning message can be generated in distance threshold, vehicle, and the second warning message may include estimated waiting time.Second warning letter
Breath can also be played out by audio playing unit, for example, " please wait x minutes ".
Wherein, vehicle can calculate estimated waiting time according to following methods.
Firstly, determining the velocity information for following target according to the GPS position information for following target.
Then, according to the GPS position information of vehicle, the velocity information of vehicle is determined.
Wherein, velocity information may include in GPS position information.
Finally, according to the velocity information, the velocity information of vehicle and safe distance that follow target, when calculating estimated wait
It is long.
After determining to follow the target trajectory of target, if to be followed according to the target trajectory, there are some
Problem, for example, there is broken line in track, curvature of curve is too small etc., at this point it is possible to target trajectory is smoothed, in order to
Vehicle is followed.
It is possible, firstly, to calculate the first curvature of the curve in target trajectory and/or the torsion of broken line.
Then, the inverse by first curvature, torsion respectively with the minimum transition radius of vehicle is compared.
Finally, the curvature meets the requirements when first curvature or torsion are not more than the inverse of minimum transition radius, when
When first curvature or torsion are greater than the inverse of minimum transition radius, to the broken line after corresponding curve or smoothing processing after
It is continuous to be smoothed.
Subsequent, vehicle can realize reality to following target to follow along by the target trajectory after smoothing processing
When follow.
By the target trajectory recognition methods followed using vehicle provided in an embodiment of the present invention, vehicle can pass through kimonos
Business device interacts, and the relative positional relationship of vehicle and one or more targets is obtained, to judge whether itself can collide；
The GPS position information for following target is obtained, and according to GPS position information, determines the target trajectory for following target, realizes vehicle
It can cannot indirectly obtain following the location information of target, and save acquisition mesh with when following the target directly to be communicated
The time for marking track improves the efficiency for obtaining target trajectory.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can be executed with hardware, processor
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
In any other form of storage medium well known to interior.
Above specific embodiment has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Illustrate, it should be understood that the above is only a specific embodiment of the invention, the protection model that is not intended to limit the present invention
It encloses, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (10)
1. a kind of target trajectory recognition methods that vehicle follows, which is characterized in that the described method includes:
In preset duration, vehicle sends request message to server with preset frequency, and the request message includes vehicle institute
What is followed follows the ID of target；
Multiple response messages that server is sent in preset duration are received, each response message follows target including described
GPS position information；The GPS position information includes temporal information and longitude and latitude data；
According to the temporal information, multiple longitude and latitude data in preset duration are spliced；
According to splicing result, the target trajectory of target is followed described in determination.
2. the method according to claim 1, wherein before the method further include:
Obtain the ID for following target that the vehicle is followed；
The ID of the vehicle and the ID for following target are associated.
3. the method according to claim 1, wherein before the method further include:
The GPS position information of acquisition vehicle itself and the vehicles identifications ID；
The GPS position information of the vehicle and vehicle ID are sent to server.
4. according to the method described in claim 3, it is characterized in that, after the method further include:
The GPS position information of the one or more targets for the vehicle periphery that the server is sent is received,
According to the GPS position information of the GPS position information of the vehicle itself and the target, determine described and one or more
The relative positional relationship of target；
Relationship depending on that relative position judges the safe driving information of the vehicle.
5. the method according to claim 1, wherein described according to the temporal information, in preset duration
Multiple longitude and latitude data are spliced, and are specifically included:
According to the temporal information, each longitude and latitude data for following target are ranked up；
According to ranking results, spliced.
6. the method according to claim 1, wherein the method also includes:
It obtains the vehicle and follows the distance between target with described；
When the distance is not less than preset distance threshold, the first warning message is generated；
By the audio playing unit of vehicle, first warning message is played.
7. the method according to claim 1, wherein after the method further include:
It obtains the vehicle and follows the distance between target with described；
When the distance is not less than preset distance threshold, the second warning message is generated；Second warning message include with
With the estimated waiting time of target；
By second warning message be sent to it is described follow target so that described follow target according to the estimated waiting time
It is waited.
8. the method according to the description of claim 7 is characterized in that
According to the GPS position information for following target, the velocity information of target is followed described in determination；
According to the GPS position information of the vehicle, the velocity information of the vehicle is determined；
According to the velocity information for following target, the velocity information of vehicle and safe distance, estimated waiting time is calculated.
9. according to method described in claim 6-8 any one, which is characterized in that the acquisition vehicle is followed with described
The distance between target specifically includes:
When having ultrasonic radar on vehicle, by the ultrasound data of the ultrasonic radar, the vehicle and institute are calculated
It states and follows the distance between target.
10. the method according to claim 1, wherein described according to splicing result, determine described in follow target
After target trajectory, the method also includes:
Calculate the first curvature of the curve in target trajectory and/or the torsion of broken line；
Inverse by the first curvature, the torsion respectively with the minimum transition radius of the vehicle is compared；
When the first curvature or the torsion are greater than the inverse of minimum transition radius, it is smoothed.
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Application publication date: 20190416 |