CN113200039A - Parking-based road generation method and device, vehicle and readable medium - Google Patents

Parking-based road generation method and device, vehicle and readable medium Download PDF

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CN113200039A
CN113200039A CN202110644923.0A CN202110644923A CN113200039A CN 113200039 A CN113200039 A CN 113200039A CN 202110644923 A CN202110644923 A CN 202110644923A CN 113200039 A CN113200039 A CN 113200039A
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coordinate
coordinate information
vehicle
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driving
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CN113200039B (en
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李恒佳
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Guangzhou Xiaopeng Smart Charge Technology Co Ltd
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Guangzhou Xiaopeng Smart Charge Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/06—Direction of travel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure

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  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
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Abstract

Embodiments of the present invention provide a method, an apparatus, a vehicle, and a readable medium for generating a road based on parking, in a learning process of memorizing a road for parking, the vehicle may determine a driving direction of the vehicle by acquiring coordinate information in a moving process, the coordinate information including historical coordinate information of historical coordinate points and current coordinate information of current coordinate points corresponding to the historical coordinate points, and then determine a driving area corresponding to the driving direction according to the historical coordinate information and the current coordinate information, and then may generate road information corresponding to the moving process of the vehicle according to a plurality of driving areas, determine a driving area corresponding to the driving direction by two coordinate points, and determine a driving area based on the two coordinate points, thereby effectively reducing a calculation amount of coordinate calculation at each time, reducing an operation cost of a system, and enabling a reduction in occupation of a drawing performance in a road drawing process, the system overhead is further reduced, and the road drawing efficiency is improved.

Description

Parking-based road generation method and device, vehicle and readable medium
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a parking-based road generation method, a parking-based road generation apparatus, a vehicle, and a computer-readable medium.
Background
With the development of vehicle technology, human beings will gradually get rid of complicated driving operations, and at the present stage, ADAS (advanced driver assistance system) is rapidly popularized and replaces part of human driving, so that safety and comfort of the system are very important. In a scene that the vehicle needs to travel, for example, a parking scene, an ACC scene (adaptive cruise control), a remote driving scene, and the like, road information of the vehicle often needs to be recorded so as to know a traveling state of the vehicle and make a corresponding control decision for the vehicle. Particularly, in a memory parking scene, when the system is used for the first time, a user needs to manually drive the vehicle to run a parking route once, and complete process of 'memorizing the route' is completed after parking, and then when the system is used for the second time, the vehicle can assist the user to drive the vehicle from a starting point of a set route to a terminal point of the set route according to the 'memorizing route', and park in a parking space memorized by the system, so that automatic parking of the vehicle is realized. However, in the learning process of memory parking, the roads in the parking lot need to be drawn according to the driving of the vehicle, and in the drawing process, the calculation amount is large, the system overhead is high, and the efficiency of road drawing is seriously reduced.
Disclosure of Invention
The embodiment of the invention provides a parking-based road generation method, a parking-based road generation device, a parking-based vehicle and a computer-readable storage medium, and aims to solve or partially solve the problems of large calculation amount, high system overhead and the like in road drawing in a memory parking process.
The embodiment of the invention discloses a parking-based road generation method, which comprises the following steps:
acquiring coordinate information in the moving process of a vehicle, wherein the coordinate information comprises historical coordinate information of historical coordinate points and current coordinate information of current coordinate points corresponding to the historical coordinate points;
determining a direction of travel of the vehicle;
determining a driving area corresponding to the driving direction according to the historical coordinate information and the current coordinate information;
and generating road information corresponding to the moving process of the vehicle according to the plurality of driving areas.
Optionally, the determining the driving direction of the vehicle comprises:
acquiring a first vector corresponding to the historical coordinate information and a second vector corresponding to the current coordinate information;
and determining the driving direction of the vehicle by adopting the first vector and the second vector.
Optionally, the determining, according to the historical coordinate information and the current coordinate information, a driving area corresponding to the driving direction includes:
acquiring target vectors aiming at the historical coordinate points and the current coordinate points, wherein the target vectors are vectors with the direction perpendicular to the driving direction;
calculating a first coordinate point for the historical coordinate point using the target vector and the historical coordinate information;
calculating a second coordinate point for the current coordinate point by using the target vector and the current coordinate information;
and determining a driving area corresponding to the driving direction according to the first coordinate point and the second coordinate point.
Optionally, the calculating a first coordinate point for the historical coordinate point using the target vector and the historical coordinate information includes:
acquiring the width of a road;
and calculating a first coordinate point in the corresponding direction of the target vector by using the historical coordinate point as an origin and the road width and the historical coordinate information.
Optionally, the calculating, by using the target vector and the current coordinate information, a second coordinate point for the current coordinate point includes:
acquiring the width of a road;
and calculating a second coordinate point in the corresponding direction of the target vector by using the road width and the current coordinate information by taking the current coordinate point as an origin.
Optionally, the determining a driving area corresponding to the driving direction according to the first coordinate point and the second coordinate point includes:
acquiring first coordinate information of the first coordinate point and second coordinate information of the second coordinate point;
and calculating a driving area corresponding to the driving direction by using the first coordinate information and the second coordinate information.
Optionally, the obtaining coordinate information during the movement of the vehicle includes:
and acquiring coordinate information in the moving process of the vehicle according to a preset time interval.
Optionally, the obtaining coordinate information during the movement of the vehicle includes:
and acquiring coordinate information of the vehicle in the moving process according to the preset running distance.
Optionally, the generating road information corresponding to the vehicle moving process according to a plurality of driving areas includes:
the method comprises the steps of obtaining a plurality of driving areas within a visual range in a preset display device, and displaying road information corresponding to the driving areas in the display device.
The embodiment of the invention also discloses a parking-based road generating device, which comprises:
the coordinate information acquisition module is used for acquiring coordinate information in the moving process of the vehicle, wherein the coordinate information comprises historical coordinate information of a historical coordinate point and current coordinate information of a current coordinate point corresponding to the historical coordinate point;
a driving direction determination module for determining a driving direction of the vehicle;
the driving area determining module is used for determining a driving area corresponding to the driving direction according to the historical coordinate information and the current coordinate information;
and the road information generating module is used for generating road information corresponding to the moving process of the vehicle according to the plurality of driving areas.
Optionally, the driving direction determination module comprises:
the vector acquisition submodule is used for acquiring a first vector corresponding to the historical coordinate information and a second vector corresponding to the current coordinate information;
and the driving direction determining module is used for determining the driving direction of the vehicle by adopting the first vector and the second vector.
Optionally, the driving area determination module comprises:
a target vector obtaining submodule for obtaining target vectors for the historical coordinate point and the current coordinate point, wherein the target vectors are vectors with a direction perpendicular to the driving direction;
a first coordinate point calculation submodule for calculating a first coordinate point for the historical coordinate point using the target vector and the historical coordinate information;
a second coordinate point calculation submodule for calculating a second coordinate point for the current coordinate point using the target vector and the current coordinate information;
and the driving area determining submodule is used for determining a driving area corresponding to the driving direction according to the first coordinate point and the second coordinate point.
Optionally, the first coordinate point calculating sub-module is specifically configured to:
acquiring the width of a road;
and calculating a first coordinate point in the corresponding direction of the target vector by using the historical coordinate point as an origin and the road width and the historical coordinate information.
Optionally, the second coordinate point calculating sub-module is specifically configured to:
acquiring the width of a road;
and calculating a second coordinate point in the corresponding direction of the target vector by using the road width and the current coordinate information by taking the current coordinate point as an origin.
Optionally, the driving area determination submodule is specifically configured to:
acquiring first coordinate information of the first coordinate point and second coordinate information of the second coordinate point;
and calculating a driving area corresponding to the driving direction by using the first coordinate information and the second coordinate information.
Optionally, the coordinate information obtaining module is specifically configured to:
and acquiring coordinate information in the moving process of the vehicle according to a preset time interval.
Optionally, the coordinate information obtaining module is specifically configured to:
and acquiring coordinate information of the vehicle in the moving process according to the preset running distance.
Optionally, the road information generating module is specifically configured to:
the method comprises the steps of obtaining a plurality of driving areas within a visual range in a preset display device, and displaying road information corresponding to the driving areas in the display device.
The embodiment of the invention also discloses a vehicle, which comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory finish mutual communication through the communication bus;
the memory is used for storing a computer program;
the processor is configured to implement the method described above when executing the program stored in the memory.
Embodiments of the invention also disclose one or more computer-readable media having instructions stored thereon, which, when executed by one or more processors, cause the processors to perform the methods described above.
The embodiment of the invention has the following advantages:
in the embodiment of the present invention, in the road learning process of memorizing parking, the vehicle may obtain coordinate information during movement, wherein the coordinate information may include historical coordinate information of historical coordinate points and current coordinate information of current coordinate points corresponding to the historical coordinate points, then determine a driving direction of the vehicle based on the coordinate information, and determine a driving area corresponding to the driving direction according to the historical coordinate information and the current coordinate information, then may generate corresponding road information during movement of the vehicle from a plurality of driving areas, determine a driving area corresponding to the driving direction by two coordinate points, determine a driving area based on two coordinate points, effectively reduce the amount of calculation of each coordinate calculation, reduce the calculation overhead of the system, and simultaneously, in the process of synthesizing a plurality of driving areas into road information, since the driving area is cached section by section, the occupation of the drawing performance can be reduced in the road drawing process, the system overhead is further reduced, and the road drawing efficiency is improved.
Drawings
FIG. 1 is a flow chart illustrating steps of a parking-based road generation method provided in an embodiment of the present invention;
FIG. 2 is a schematic diagram of coordinate points provided in an embodiment of the invention;
FIG. 3 is a schematic diagram of coordinate points provided in an embodiment of the invention;
FIG. 4 is a schematic illustration of a travel area provided in an embodiment of the present invention;
FIG. 5 is a schematic illustration of road information provided in an embodiment of the present invention;
fig. 6 is a block diagram of a parking-based road generation apparatus according to an embodiment of the present invention;
fig. 7 is a block diagram of an electronic device provided in an embodiment of the invention;
fig. 8 is a schematic diagram of a computer-readable medium provided in an embodiment of the invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As an example, with the rapid development of automatic driving technology of vehicles, automatic driving, automatic parking, memory parking, and the like have been developed in application scenarios of vehicles. The memory parking can realize automatic parking of vehicles without depending on improvement of parking lots. Specifically, the automatic parking of the fixed route of the parking lot can be realized through simple learning and storing processes, and meanwhile, the functions of automatic speed regulation, turning, obstacle avoidance, meeting and the like can be completed depending on relevant data processing in the driving process, so that the parking requirements of various scenes of a user are met.
For memory parking of a vehicle, when the system is used for the first time, a user needs to manually drive the vehicle to run a parking route once, and complete process of 'route memory' is completed after the vehicle is parked, then when the system is used for the second time, the vehicle can assist the user in driving the vehicle from a starting point of a set route to a terminal point of the set route according to the 'route memory', and parking in a parking space which is memorized by the system, so that automatic parking of the vehicle is realized, and therefore, through learning of different parking lots, the vehicle can complete automatic parking according to actual scenes, and driving experience of the user is effectively improved.
In the process of memorizing parking, learning of a 'recording route' needs to be performed first, and learning of a 3D parking road is involved in the learning process, namely, a vehicle needs to draw a driving road corresponding to a parking lot. In the process of drawing a parking lot road, a series of coordinate points are often collected during the driving process of a vehicle, then, each calculation is carried out on a driving route based on all the coordinate points, and corresponding road information is determined. However, in the process, since the calculation of the full amount of coordinate points is involved each time, as the vehicle continuously advances, the number of coordinate points calculated in each frame is increased, the calculation amount of the system is increased continuously, and the CPU is occupied more and more, so that the road information learning efficiency is easily reduced, and the parking experience of the user is affected.
In this regard, one of the core invention points of the embodiments of the present invention is that, in a road learning process of memorizing parking, as the vehicle travels, the vehicle may acquire current coordinate information of a current coordinate point and historical coordinate information of a previous coordinate point corresponding to the current coordinate point, then determine a traveling direction of the vehicle based on the coordinate information, and determine a traveling zone corresponding to the traveling direction based on the historical coordinate information and the current coordinate information, then may generate road information corresponding to the traveling process of the vehicle from a plurality of traveling zones, determine a traveling zone corresponding to the traveling direction by two coordinate points, determine a traveling zone based on two coordinate points, effectively reduce the amount of calculation per coordinate calculation, reduce the calculation overhead of the system, and simultaneously, in a process of synthesizing a plurality of traveling zones into road information, since the traveling zone is cached on a segment basis, the occupation of the drawing performance can be reduced in the road drawing process, the system overhead is further reduced, and the road drawing efficiency is improved.
Specifically, referring to fig. 1, a flowchart illustrating steps of a parking-based road generation method provided in an embodiment of the present invention is shown, which may specifically include the following steps:
step 101, obtaining coordinate information in a vehicle moving process, wherein the coordinate information comprises historical coordinate information of a historical coordinate point and current coordinate information of a current coordinate point corresponding to the historical coordinate point;
in the embodiment of the invention, before using the memory parking function of the vehicle, particularly when the vehicle is used for the first time, the user needs to manually drive the vehicle to learn the memory route of the corresponding parking lot, and in the process that the user drives the vehicle to run in the parking lot, the vehicle can acquire the coordinate information in the moving process of the vehicle through the corresponding sensor.
Optionally, for the obtaining of the coordinate information, the vehicle may obtain the coordinate information during the vehicle driving process according to a preset time interval, or may obtain the coordinate information during the vehicle moving process according to a preset driving distance, for example, the vehicle may obtain the coordinate information once every 1 second, 2 seconds, 3 seconds, or the like, or obtain the coordinate information once every N meters of the vehicle driving, and the invention is not limited thereto.
In the specific implementation, in the process of obtaining the coordinate information each time, the vehicle may obtain only a current coordinate point of the vehicle and a previous coordinate point (a historical coordinate point) corresponding to the current coordinate point, and then obtain coordinate information (which may be longitude and latitude information, or coordinate information in a plane coordinate system established for the parking lot, etc.) corresponding to the two coordinate points, so that by obtaining the coordinate information of the two coordinate points, the calculation amount of subsequent coordinate calculation can be effectively reduced, and the system calculation overhead of the vehicle is reduced.
In one example, a user may first drive a vehicle to move in a parking lot before first using a memory parking function to cause the vehicle to learn a "memory route" for the parking lot. Specifically, as the vehicle moves, the vehicle may acquire the current coordinate point SnAnd with the current coordinate point SnCorresponding last coordinate point Sn-1Then obtaining the current coordinate point SnCorresponding coordinate information (X)n，Yn) Coordinate point Sn-1Corresponding coordinate information (X)n-1，Yn-1) (ii) a When the coordinate information is acquired next time, the current coordinate point may be Sn+1And the coordinate point SnAnd obtaining corresponding coordinate information after the coordinate point becomes the last coordinate point, and continuously obtaining the coordinate information in the driving process of the vehicle on the basis of the coordinate information so as to finish the learning of 'memory route' of the vehicle to the parking lot, particularly the learning of the 3D parking road.
Step 102, determining the driving direction of the vehicle;
in a specific implementation, a first vector corresponding to the historical coordinate point can be determined according to the historical coordinate information, a second vector corresponding to the current coordinate point can be determined according to the current coordinate information, and then the first vector and the second vector are adopted to determine the driving direction of the vehicle.
In one example, a vehicle may acquire a plan view of a parking lot and establish a corresponding coordinate system for the plan view, and as the vehicle moves in the parking lot, a corresponding coordinate point and coordinate information of the coordinate point may be acquired and then based on the vehicle's seatAnd determining a vector corresponding to each coordinate point by the mark information and the origin, and determining the driving direction of the vehicle according to the vector relation between the adjacent current coordinate point and the historical coordinate point. Specifically, referring to fig. 2, a schematic diagram of coordinate points provided in the embodiment of the present invention is shown, where P1 is a history coordinate point, P2 is a current coordinate point,
Figure BDA0003108832570000081
is the first vector corresponding to the historical coordinate point (dashed line corresponding to P1),
Figure BDA0003108832570000082
the second vector corresponding to the current coordinate point (dashed line corresponding to P1), then the current coordinate point is determined by comparing the current coordinate point with the first vector
Figure BDA0003108832570000083
Reducing
Figure BDA0003108832570000084
The traveling direction of the vehicle (solid line pointed to P2 by P1) can be found, so that the traveling direction of the vehicle can be determined by acquiring two adjacent coordinate points during the traveling of the vehicle.
103, determining a driving area corresponding to the driving direction according to the historical coordinate information and the current coordinate information;
in the embodiment of the invention, after the coordinate information of the current coordinate point and the historical marking point is obtained, the driving area corresponding to the driving direction can be determined according to the current coordinate point and the historical marking point, so that a section of driving area corresponding to the driving direction is determined through the two coordinate points, and one driving area is determined based on the two coordinate points, thereby effectively reducing the calculation amount of each coordinate calculation and reducing the calculation cost of the system.
In a specific implementation, the vehicle may obtain target vectors for the history coordinate point and the current coordinate point, wherein the target vectors are vectors having a direction perpendicular to the driving direction, then calculate a first coordinate point for the history coordinate point using the target vectors and the history coordinate information, calculate a second coordinate point for the current coordinate point using the target vectors and the current coordinate information, and then determine a driving region corresponding to the driving direction from the first coordinate point and the second coordinate point.
Specifically, if the road has a certain width, in order to determine the corresponding width, a target vector corresponding to the driving direction of the vehicle may be acquired after the driving direction is determined. The target vector may be a unit vector having a direction perpendicular to the driving direction, so that the target coordinate point may be extended in the direction perpendicular to the driving direction with the history coordinate point or the current coordinate point as an origin.
In one example, after determining the target vector perpendicular to the driving direction, a road width may be obtained, and the road width may be a road width preset during memory parking, which may be set according to a width of a driving road of an actual parking lot. The vehicle may calculate a first coordinate point in a direction corresponding to the target vector using the road width and the historical coordinate information with the historical coordinate point as an origin, and calculate a second coordinate point in the direction corresponding to the target vector using the road width and the current coordinate information with the current coordinate point as an origin. Referring to FIG. 3, a schematic diagram of coordinate points provided in an embodiment of the invention is shown, for a target vector PsIn other words, a first direction pointed by the coordinate point V and a second direction opposite to the first direction may be taken, so that the first coordinate point V corresponding to the historical coordinate point may be determined by using the historical coordinate point or the current coordinate point as an origin and combining the road width and the direction1And V2Second coordinate point V corresponding to the current coordinate point3And V4. The coordinate point V can then be acquired1、V2、V3And V4And then calculates a travel region corresponding to the travel direction based on the respective coordinate information. For example, referring to fig. 4, which shows a schematic diagram of a driving area provided in an embodiment of the present invention, in OpenGl, a road model may be composed of a dotted line and a triangle, and in (r), a triangle model (for example, may be V) may be determined by three different coordinate points1、V2、V4Form a triangle, or be V1、V3、V4Form a triangle, or be V2、V3、V4Form a triangle, and can also be V1、V2、V3A triangle, etc.) in which the travel regions corresponding to the history coordinate point and the current coordinate point are determined by two triangular models. In addition, when the driving area corresponding to the historical coordinate point and the current coordinate point is obtained, the driving area can be cached, a new driving area can be generated and cached continuously according to new coordinate information along with the continuous driving of the vehicle, the same coordinate operation is repeated until the road learning of 3D parking is finished, so that a section of driving area corresponding to the driving direction is determined through the two coordinate points, one driving area is determined based on the two coordinate points, the calculation amount of each coordinate calculation is effectively reduced, and the calculation overhead of the system is reduced.
And 104, generating road information corresponding to the moving process of the vehicle according to the plurality of driving areas.
In the specific implementation, after the driving area corresponding to the current driving direction is determined by calculating the coordinate information of the current coordinate point and the previous historical coordinate point, the driving area calculated each time can be cached, so that in the process of drawing the road, all mixed driving areas can be called to draw to form a complete road, only the latest coordinate point can be calculated each time in the process of drawing the road, the calculation of a series of coordinate points is reduced, the occupation of drawing performance is reduced, the overhead of a system is further reduced, the road drawing efficiency is improved, and further, the 3D road learning in the process of memory parking is completed.
In addition, since the driving areas are cached section by section, in the process of displaying the road information, a plurality of driving areas in the visible range in the display device can be obtained firstly, then the driving areas are combined to generate a section of complete road, and the road is displayed in the display device. For example, referring to fig. 5, which shows a schematic diagram of road information provided in an embodiment of the present invention, a driving area is cached in segments, N driving areas may be combined to generate a corresponding road, specifically, a road segment only displayed in a screen may be selected during displaying, specifically, coordinates of a start point and an end point of each cached driving area may be recorded, a real-time coordinate of a vehicle and a real-time coordinate of a start point and an end point are respectively compared during each drawing, and if the driving area is located in a range displayed on the screen, the real-time coordinate is displayed, and if the driving area is located outside the range displayed on the screen, the real-time coordinate is not displayed, so that during each coordinate calculation, a driving area corresponding to a driving direction is determined by two coordinate points, and one driving area is determined based on the two coordinate points, thereby effectively reducing the calculation amount of each coordinate calculation, reducing the calculation overhead of a system, and simultaneously during the process of combining a plurality of driving areas into road information, the driving area is cached section by section, so that the occupation of the drawing performance can be reduced in the road drawing process, the system overhead is further reduced, and the road drawing efficiency is improved.
It should be noted that, the embodiment of the present invention includes but is not limited to the above examples, and it is understood that, under the guidance of the idea of the embodiment of the present invention, a person skilled in the art may also set the method according to practical requirements, and the present invention is not limited to this.
In the embodiment of the present invention, in the road learning process of memorizing parking, the vehicle may obtain coordinate information during movement, wherein the coordinate information may include historical coordinate information of historical coordinate points and current coordinate information of current coordinate points corresponding to the historical coordinate points, then determine a driving direction of the vehicle based on the coordinate information, and determine a driving area corresponding to the driving direction according to the historical coordinate information and the current coordinate information, then may generate corresponding road information during movement of the vehicle from a plurality of driving areas, determine a driving area corresponding to the driving direction by two coordinate points, determine a driving area based on two coordinate points, effectively reduce the amount of calculation of each coordinate calculation, reduce the calculation overhead of the system, and simultaneously, in the process of synthesizing a plurality of driving areas into road information, since the driving area is cached section by section, the occupation of the drawing performance can be reduced in the road drawing process, the system overhead is further reduced, and the road drawing efficiency is improved.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 6, a block diagram of a parking-based road generation apparatus provided in an embodiment of the present invention is shown, and specifically includes the following modules:
the coordinate information acquiring module 601 is configured to acquire coordinate information in a vehicle moving process, where the coordinate information includes historical coordinate information of a historical coordinate point and current coordinate information of a current coordinate point corresponding to the historical coordinate point;
a driving direction determination module 602 for determining a driving direction of the vehicle;
a driving area determining module 603, configured to determine, according to the historical coordinate information and the current coordinate information, a driving area corresponding to the driving direction;
a road information generating module 604, configured to generate road information corresponding to the moving process of the vehicle according to the plurality of driving areas.
In an optional embodiment of the invention, the driving direction determining module 602 comprises:
the vector acquisition submodule is used for acquiring a first vector corresponding to the historical coordinate information and a second vector corresponding to the current coordinate information;
a driving direction determining module 602, configured to determine a driving direction of the vehicle by using the first vector and the second vector.
In an alternative embodiment of the present invention, the driving area determination module 603 includes:
a target vector obtaining submodule for obtaining target vectors for the historical coordinate point and the current coordinate point, wherein the target vectors are vectors with a direction perpendicular to the driving direction;
a first coordinate point calculation submodule for calculating a first coordinate point for the historical coordinate point using the target vector and the historical coordinate information;
a second coordinate point calculation submodule for calculating a second coordinate point for the current coordinate point using the target vector and the current coordinate information;
and the driving area determining submodule is used for determining a driving area corresponding to the driving direction according to the first coordinate point and the second coordinate point.
In an optional embodiment of the present invention, the first coordinate point calculating sub-module is specifically configured to:
acquiring the width of a road;
and calculating a first coordinate point in the corresponding direction of the target vector by using the historical coordinate point as an origin and the road width and the historical coordinate information.
In an optional embodiment of the present invention, the second coordinate point calculating sub-module is specifically configured to:
acquiring the width of a road;
and calculating a second coordinate point in the corresponding direction of the target vector by using the road width and the current coordinate information by taking the current coordinate point as an origin.
In an alternative embodiment of the invention, the driving range determination submodule is specifically configured to:
acquiring first coordinate information of the first coordinate point and second coordinate information of the second coordinate point;
and calculating a driving area corresponding to the driving direction by using the first coordinate information and the second coordinate information.
In an optional embodiment of the present invention, the coordinate information obtaining module 601 is specifically configured to:
and acquiring coordinate information in the moving process of the vehicle according to a preset time interval.
In an optional embodiment of the present invention, the coordinate information obtaining module 601 is specifically configured to:
and acquiring coordinate information of the vehicle in the moving process according to the preset running distance.
In an optional embodiment of the present invention, the road information generating module 604 is specifically configured to:
the method comprises the steps of obtaining a plurality of driving areas within a visual range in a preset display device, and displaying road information corresponding to the driving areas in the display device.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
In addition, an embodiment of the present invention further provides a vehicle, as shown in fig. 7, including a processor 701, a communication interface 702, a memory 703 and a communication bus 704, where the processor 701, the communication interface 702, and the memory 703 complete mutual communication through the communication bus 704,
a memory 703 for storing a computer program;
the processor 701 is configured to implement the following steps when executing the program stored in the memory 703:
acquiring coordinate information in the moving process of a vehicle, wherein the coordinate information comprises historical coordinate information of historical coordinate points and current coordinate information of current coordinate points corresponding to the historical coordinate points;
determining a direction of travel of the vehicle;
determining a driving area corresponding to the driving direction according to the historical coordinate information and the current coordinate information;
and generating road information corresponding to the moving process of the vehicle according to the plurality of driving areas.
In an optional embodiment of the invention, the determining the driving direction of the vehicle comprises:
acquiring a first vector corresponding to the historical coordinate information and a second vector corresponding to the current coordinate information;
and determining the driving direction of the vehicle by adopting the first vector and the second vector.
In an optional embodiment of the present invention, the determining a travel area corresponding to the travel direction according to the historical coordinate information and the current coordinate information includes:
acquiring target vectors aiming at the historical coordinate points and the current coordinate points, wherein the target vectors are vectors with the direction perpendicular to the driving direction;
calculating a first coordinate point for the historical coordinate point using the target vector and the historical coordinate information;
calculating a second coordinate point for the current coordinate point by using the target vector and the current coordinate information;
and determining a driving area corresponding to the driving direction according to the first coordinate point and the second coordinate point.
In an optional embodiment of the present invention, the calculating a first coordinate point for the historical coordinate point using the target vector and the historical coordinate information includes:
acquiring the width of a road;
and calculating a first coordinate point in the corresponding direction of the target vector by using the historical coordinate point as an origin and the road width and the historical coordinate information.
In an optional embodiment of the present invention, the calculating a second coordinate point for the current coordinate point using the target vector and the current coordinate information includes:
acquiring the width of a road;
and calculating a second coordinate point in the corresponding direction of the target vector by using the road width and the current coordinate information by taking the current coordinate point as an origin.
In an optional embodiment of the present invention, the determining a driving area corresponding to the driving direction according to the first coordinate point and the second coordinate point comprises:
acquiring first coordinate information of the first coordinate point and second coordinate information of the second coordinate point;
and calculating a driving area corresponding to the driving direction by using the first coordinate information and the second coordinate information.
In an optional embodiment of the present invention, the acquiring coordinate information during the movement of the vehicle includes:
and acquiring coordinate information in the moving process of the vehicle according to a preset time interval.
In an optional embodiment of the present invention, the acquiring coordinate information during the movement of the vehicle includes:
and acquiring coordinate information of the vehicle in the moving process according to the preset running distance.
In an optional embodiment of the present invention, the generating road information corresponding to the moving process of the vehicle according to a plurality of the driving areas includes:
the method comprises the steps of obtaining a plurality of driving areas within a visual range in a preset display device, and displaying road information corresponding to the driving areas in the display device.
The communication bus mentioned in the above terminal may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the terminal and other equipment.
The Memory may include a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
In yet another embodiment provided by the present invention, as shown in fig. 8, there is also provided a computer-readable storage medium 801 having stored therein instructions, which when run on a computer, cause the computer to execute the parking-based road generation method described in the above-described embodiment.
In yet another embodiment provided by the present invention, there is also provided a computer program product containing instructions that, when executed on a computer, cause the computer to perform the parking-based road generation method described in the above-mentioned embodiment.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims (12)

1. A parking-based road generation method, comprising:
acquiring coordinate information in the moving process of a vehicle, wherein the coordinate information comprises historical coordinate information of historical coordinate points and current coordinate information of current coordinate points corresponding to the historical coordinate points;
determining a direction of travel of the vehicle;
determining a driving area corresponding to the driving direction according to the historical coordinate information and the current coordinate information;
and generating road information corresponding to the moving process of the vehicle according to the plurality of driving areas.
2. The method of claim 1, wherein the determining the direction of travel of the vehicle comprises:
acquiring a first vector corresponding to the historical coordinate information and a second vector corresponding to the current coordinate information;
and determining the driving direction of the vehicle by adopting the first vector and the second vector.
3. The method according to claim 1, wherein the determining a travel area corresponding to the travel direction from the historical coordinate information and the current coordinate information comprises:
acquiring target vectors aiming at the historical coordinate points and the current coordinate points, wherein the target vectors are vectors with the direction perpendicular to the driving direction;
calculating a first coordinate point for the historical coordinate point using the target vector and the historical coordinate information;
calculating a second coordinate point for the current coordinate point by using the target vector and the current coordinate information;
and determining a driving area corresponding to the driving direction according to the first coordinate point and the second coordinate point.
4. The method of claim 3, wherein said calculating a first coordinate point for the historical coordinate point using the target vector and the historical coordinate information comprises:
acquiring the width of a road;
and calculating a first coordinate point in the corresponding direction of the target vector by using the historical coordinate point as an origin and the road width and the historical coordinate information.
5. The method of claim 3, wherein said calculating a second coordinate point for the current coordinate point using the target vector and the current coordinate information comprises:
acquiring the width of a road;
and calculating a second coordinate point in the corresponding direction of the target vector by using the road width and the current coordinate information by taking the current coordinate point as an origin.
6. The method of claim 3, wherein determining a travel region corresponding to the travel direction from the first and second coordinate points comprises:
acquiring first coordinate information of the first coordinate point and second coordinate information of the second coordinate point;
and calculating a driving area corresponding to the driving direction by using the first coordinate information and the second coordinate information.
7. The method of claim 1, wherein the obtaining coordinate information during movement of the vehicle comprises:
and acquiring coordinate information in the moving process of the vehicle according to a preset time interval.
8. The method of claim 1, wherein the obtaining coordinate information during movement of the vehicle comprises:
and acquiring coordinate information of the vehicle in the moving process according to the preset running distance.
9. The method according to claim 1, wherein the generating road information corresponding to the moving process of the vehicle according to a plurality of the driving areas comprises:
the method comprises the steps of obtaining a plurality of driving areas within a visual range in a preset display device, and displaying road information corresponding to the driving areas in the display device.
10. A parking-based road generating device, comprising:
the coordinate information acquisition module is used for acquiring coordinate information in the moving process of the vehicle, wherein the coordinate information comprises historical coordinate information of a historical coordinate point and current coordinate information of a current coordinate point corresponding to the historical coordinate point;
a driving direction determination module for determining a driving direction of the vehicle;
the driving area determining module is used for determining a driving area corresponding to the driving direction according to the historical coordinate information and the current coordinate information;
and the road information generating module is used for generating road information corresponding to the moving process of the vehicle according to the plurality of driving areas.
11. A vehicle, characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
the memory is used for storing a computer program;
the processor, when executing a program stored on the memory, implementing the method of any of claims 1-9.
12. One or more computer-readable media having instructions stored thereon that, when executed by one or more processors, cause the processors to perform the method of any of claims 1-9.
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