CN115824229A - Course angle correction method, device, equipment, storage medium and program product - Google Patents
Course angle correction method, device, equipment, storage medium and program product Download PDFInfo
- Publication number
- CN115824229A CN115824229A CN202211702737.9A CN202211702737A CN115824229A CN 115824229 A CN115824229 A CN 115824229A CN 202211702737 A CN202211702737 A CN 202211702737A CN 115824229 A CN115824229 A CN 115824229A
- Authority
- CN
- China
- Prior art keywords
- target vehicle
- course angle
- information
- angle change
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Navigation (AREA)
Abstract
The present application relates to a course angle correction method, apparatus, device, storage medium and program product, the method comprising: the method comprises the steps of obtaining course angle information of a target vehicle at the previous moment and course angle information of the target vehicle at the current moment, determining course angle change information of the target vehicle according to the course angle information of the previous moment and the course angle information of the current moment, and correcting the course angle information of the target vehicle at the current moment according to the current running state and the course angle change information of the target vehicle. The method improves the accuracy of correcting the course angle information of the target vehicle, and effectively inhibits the target vehicle from waiting for parking and from abnormally shaking and rotating with the course angle in the moving process.
Description
Technical Field
The present application relates to the field of computer vision technologies, and in particular, to a method, an apparatus, a device, a storage medium, and a program product for correcting a course angle.
Background
In the era of mass traffic, a holographic intersection based on fusion perception and a traffic digital twin platform are effective means for realizing vehicle-road cooperation and traffic control.
Whether the vehicle heading angle is accurate in the twin platform or not is an important factor for the quality of the twin effect. However, since the sensing device (laser radar, camera, millimeter wave radar, etc.) has a limited detection accuracy, the sensed vehicle position may be shifted, resulting in an error in the calculation of the heading angle of the vehicle, thereby affecting the twin effect.
Therefore, how to correct the heading angle information of the vehicle becomes an urgent technical problem to be solved.
Disclosure of Invention
In view of the above, it is desirable to provide a course angle correction method, apparatus, device, storage medium, and program product capable of correcting course angle information of a vehicle in response to the above technical problems.
In a first aspect, the present application provides a course angle correction method, including:
acquiring course angle information of a target vehicle at a previous moment and course angle information of the target vehicle at a current moment;
determining course angle change information of the target vehicle according to course angle information at the previous moment and course angle information at the current moment;
and correcting the course angle information of the target vehicle at the current moment according to the current running state and the course angle change information of the target vehicle.
In one embodiment, the correcting the course angle information of the target vehicle at the current moment according to the current driving state and the course angle change information of the target vehicle comprises:
acquiring a course angle change threshold;
and correcting the course angle information of the target vehicle at the current moment according to the current running state of the target vehicle, the course angle change information and the course angle change threshold value.
In one embodiment, obtaining the heading angle change threshold comprises:
acquiring the speed information of the target vehicle at the current moment and the vehicle type of the target vehicle;
determining a course angle change threshold according to the speed information and the vehicle type; the speed information and the vehicle type have a one-to-one correspondence with the heading angle change threshold.
In one embodiment, the correcting the course angle information of the target vehicle at the current time according to the current driving state of the target vehicle, the course angle change information and the course angle change threshold value comprises:
and if the current running state of the target vehicle is a parking state and the absolute value of the course angle change information is greater than the course angle change threshold, correcting the course angle information of the target vehicle at the current moment into the course angle information of the target vehicle at the previous moment.
In one embodiment, the correcting the course angle information of the target vehicle at the current time according to the current driving state of the target vehicle, the course angle change information and the course angle change threshold value comprises:
and if the current running state of the target vehicle is a running state, correcting the course angle information of the target vehicle at the current moment according to the relation between the absolute value of the course angle change information and the course angle change threshold.
In one embodiment, the correcting the course angle information of the target vehicle at the current time according to the relationship between the absolute value of the course angle change information and the course angle change threshold value comprises:
if the absolute value of the course angle change information is greater than the course angle change threshold and the course angle change information is greater than 0, determining course angle correction information of the target vehicle according to the ratio between the course angle change information and the course angle change threshold;
and correcting the course angle information of the target vehicle at the current moment according to the sum of the course angle information of the target vehicle at the previous moment and the course angle correction information.
In one embodiment, the correcting the course angle information of the target vehicle at the current time according to the relationship between the absolute value of the course angle change information and the course angle change threshold value comprises:
if the absolute value of the course angle change information is larger than the course angle change threshold and the course angle change information is smaller than 0, acquiring the ratio between the absolute value of the course angle change information and the course angle change threshold, and determining course angle correction information of the target vehicle;
and correcting the course angle information of the target vehicle at the current moment according to the difference between the course angle information of the target vehicle at the previous moment and the course angle correction information.
In one embodiment, the method further comprises:
acquiring position coordinate information of a target vehicle at a plurality of continuous moments;
determining the speed information of the target vehicle at a plurality of continuous moments according to the position coordinate information of the target vehicle at the plurality of continuous moments;
and determining the current running state of the target vehicle according to the speed information of the target vehicle at a plurality of continuous moments.
In one embodiment, determining the current driving state of the target vehicle according to the speed information of the target vehicle at a plurality of consecutive moments comprises:
if the speed information of the target vehicle at a plurality of continuous moments is smaller than a preset speed threshold value, determining that the current running state of the target vehicle is a parking state;
otherwise, determining the current running state of the target vehicle as the running state.
In one embodiment, obtaining the heading angle information of the target vehicle at the current moment comprises:
acquiring position coordinate information of a target vehicle at the previous moment and position coordinate information of the target vehicle at the current moment;
and determining course angle information of the target vehicle at the current moment according to the position coordinate information of the target vehicle at the previous moment and the position coordinate information of the target vehicle at the current moment.
In a second aspect, the present application further provides a course angle correction device, including:
the acquisition module is used for acquiring course angle information of the target vehicle at the previous moment and course angle information of the target vehicle at the current moment;
the determining module is used for determining the course angle change information of the target vehicle according to the course angle information at the previous moment and the course angle information at the current moment;
and the correction module is used for correcting the course angle information of the target vehicle at the current moment according to the current running state and the course angle change information of the target vehicle.
In a third aspect, an embodiment of the present application provides a computer device, including a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the method provided in any one of the foregoing first aspects when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the method provided in any one of the embodiments in the first aspect.
In a fifth aspect, this application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the method provided in any one of the embodiments in the first aspect.
The course angle correction method, the device, the equipment, the storage medium and the program product acquire course angle information of the target vehicle at the previous moment and course angle information of the target vehicle at the current moment, determine course angle change information of the target vehicle according to the course angle information of the previous moment and the course angle information of the current moment, and then correct the course angle information of the target vehicle at the current moment according to the current driving state and the course angle change information of the target vehicle. According to the method, the course angle information of the target vehicle at the current moment is corrected according to the course angle change information of the target vehicle at the previous moment and the current moment, and the current running state of the target vehicle is also considered when the course angle information of the target vehicle at the current moment is corrected, so that the accuracy of correcting the course angle information of the target vehicle is further improved, and the target vehicle is effectively restrained from waiting for parking and abnormal shaking and rotation of the course angle in the moving process.
Drawings
FIG. 1 is an application environment diagram of a course angle correction method in one embodiment;
FIG. 2 is a schematic flow chart of a course angle correction method according to an embodiment;
FIG. 3 is a schematic flow chart of a course angle correction method in another embodiment;
FIG. 4 is a schematic flow chart of a course angle correction method in another embodiment;
FIG. 5 is a schematic flow chart of a course angle correction method in another embodiment;
FIG. 6 is a schematic flow chart of a course angle correction method in another embodiment;
FIG. 7 is a flow chart illustrating a method for correcting a course angle according to another embodiment;
FIG. 8 is a flow chart illustrating a method for correcting a course angle according to another embodiment;
FIG. 9 is a flow chart illustrating a method for correcting a course angle according to another embodiment;
FIG. 10 is a flow chart illustrating a method for correcting a course angle according to another embodiment;
FIG. 11 is a block diagram showing a configuration of a course angle correcting device in one embodiment;
FIG. 12 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.
The course angle correction method provided by the embodiment of the application can be applied to the application environment shown in fig. 1. Wherein the perceiving device 102 communicates with the server 104 over a network. The data storage system may store data that the server 104 needs to process. The data storage system may be integrated on the server 104, or may be located on the cloud or other network server. Sensing device 102 may be a camera, a lidar, a millimeter wave radar, or the like. The server 104 may be implemented as a stand-alone server or as a server cluster comprised of multiple servers.
Because the detection precision of the sensing equipment is limited, the position information of the vehicle can deviate, the heading angle calculation of the vehicle can generate errors, abnormal jitter and deviation rotation of the heading angle of the vehicle on a twin platform can occur, and the kinematics rule is violated.
In the prior art, the correction of the course angle of the vehicle is performed based on the lane course angle which is measured in advance, so that the problem of time consumption caused by inquiring the information of the lane course angle is caused, and the correction effect on a non-lane road section (intersection area) is influenced. And thus is disadvantageous in improving the digital twinning effect.
Based on the above, the present application provides a course angle correction method, device, apparatus, storage medium and program product, which can correct the current course angle of the target vehicle in real time, so that the twin effect of the course angle can better accord with the kinematics law.
In one embodiment, as shown in fig. 2, a method for correcting a heading angle is provided, the embodiment comprising the steps of:
s201, course angle information of the target vehicle at the previous moment and course angle information of the target vehicle at the current moment are obtained.
The heading angle of the vehicle represents the angle between the speed of the center of mass of the vehicle and the horizontal axis (i.e., the X axis in the geodetic coordinate system) in the geodetic coordinate system.
The method for acquiring the course angle information of the target vehicle at the previous moment and the course angle information of the target vehicle at the current moment may be to acquire the sensing information of the sensing device at the previous moment and the current moment, and acquire the course angle information of the target vehicle at the previous moment and the current moment through the sensing information.
The target vehicle is any vehicle that needs to correct the heading angle, and it should be noted that the previous time may also be any time before the current time.
In one embodiment, as shown in fig. 3, the obtaining of the heading angle information of the target vehicle at the current time includes the following steps:
s301, position coordinate information of the target vehicle at the previous moment and position coordinate information at the current moment are obtained.
The course angle information of the target vehicle may be determined by the position coordinate information of the target vehicle, and thus, when calculating the course angle information of the target vehicle at the current time, the position coordinate information of the target vehicle at the previous time and the position coordinate information at the current time may be first acquired.
Taking the sensing device as a laser radar as an example, point cloud data of the target vehicle collected by the sensing device at the previous moment and the current moment are obtained, then the point cloud data of the target vehicle at the previous moment and the current moment are detected, and the position coordinate of the target vehicle at the previous moment and the position coordinate information of the target vehicle at the current moment are determined.
If the sensing equipment is a camera, acquiring images of the target vehicle acquired by the camera at the previous moment and the current moment, detecting the target vehicle in the images, and determining the position coordinate information of the target vehicle at the previous moment and the position coordinate information of the target vehicle at the current moment.
S302, determining course angle information of the target vehicle at the current moment according to the position coordinate information of the target vehicle at the previous moment and the position coordinate information of the target vehicle at the current moment.
And determining course angle information of the target vehicle at the current moment based on the acquired position coordinate information of the target vehicle at the previous moment and the position coordinate information of the target vehicle at the current moment, wherein the course angle information of the target vehicle at the current moment can be obtained by calculation according to a formula (1).
Wherein θ represents the course angle information of the target vehicle at the current moment, (x) 0 ,y 0 ) Position coordinate information (x) indicating the previous time of the target vehicle 1 ,y 1 ) And position coordinate information indicating the target vehicle at the current time.
It should be noted that, the way of acquiring the course angle information of the target vehicle at the previous time is the same as the way of acquiring the course angle information of the target vehicle at the current time, and is not described herein again.
S202, determining course angle change information of the target vehicle according to the course angle information at the previous moment and the course angle information at the current moment.
The course angle change information of the target vehicle is the change condition of the target vehicle at the current moment relative to the course angle at the previous moment, so that the difference value between the course angle information of the target vehicle at the current moment and the course angle change information of the target vehicle at the previous moment can be determined as the course angle change information of the target vehicle.
For example, if the heading angle information of the target vehicle at the previous time is θ 0 The course angle change information of the target vehicle at the current moment is theta 1 Then will be (theta) 1 -θ 0 ) And determining the heading angle change information of the target vehicle.
S203, correcting the course angle information of the target vehicle at the current moment according to the current running state and the course angle change information of the target vehicle.
When the course angle information of the target vehicle is corrected, the problem that the calculated course angle shakes front and back and left and right due to inaccurate position coordinate information caused by perception fusion errors when the target vehicle waits for a traffic signal lamp at a stop line is also solved. Therefore, it is necessary to accurately determine whether the target vehicle is parked and waiting, and then correct the current heading angle using the historical heading angle.
Therefore, when the course angle information of the target vehicle at the current moment is corrected, the current running state of the target vehicle needs to be acquired first, and then the course angle information of the target vehicle at the current moment is corrected according to the current running state and the course angle change information.
The course angle correction method obtains course angle information of a target vehicle at the previous moment and course angle information of the target vehicle at the current moment, determines course angle change information of the target vehicle according to the course angle information of the previous moment and the course angle information of the current moment, and corrects the course angle information of the target vehicle at the current moment according to the current running state and the course angle change information of the target vehicle. According to the method, the course angle information of the target vehicle at the current moment is corrected according to the course angle change information of the target vehicle at the previous moment and the current moment, and the current running state of the target vehicle is also considered when the course angle information of the target vehicle at the current moment is corrected, so that the accuracy of correcting the course angle information of the target vehicle is further improved, and the target vehicle is effectively restrained from waiting for parking and from shaking and rotating abnormally with the course angle in the moving process.
In the following, how to correct the heading angle information of the target vehicle at the current time is described by an embodiment, in an embodiment, as shown in fig. 4, the correcting the heading angle information of the target vehicle at the current time according to the current driving state of the target vehicle and the heading angle change information includes the following steps:
s401, acquiring a heading angle change threshold value.
The course angle change threshold may be determined based on kinematic rules, for example, based on the speed of the target vehicle and the type of the target vehicle.
For motor vehicles with different speeds and different vehicle types, the variation of the heading angle between two adjacent moments (0.1 s) is extremely limited, and particularly, the higher the vehicle speed is, the smaller the variation of the heading angle between two adjacent moments is.
Thus, in one embodiment, as shown in FIG. 5, obtaining a heading angle change threshold comprises the steps of:
s501, acquiring the speed information of the target vehicle at the current moment and the vehicle type of the target vehicle.
The vehicle type of the target vehicle can be obtained by detecting the data of the target vehicle collected by the sensing equipment.
The speed information of the target vehicle at the current time can be obtained by the position coordinate information of the target vehicle at the previous time and the position coordinate information of the current time, for example, if the position coordinate information of the target vehicle at the previous time is (x) 0 ,y 0 ) The position coordinate information of the target vehicle at the present time is (x) 1 ,y 1 )。
The speed information of the target vehicle at the current moment is:
where v denotes speed information of the target vehicle at the present time, and Δ t denotes a time difference between the present time and the previous time.
S502, determining a course angle change threshold according to the speed information and the vehicle type; the speed information and the vehicle type have a one-to-one correspondence with the heading angle change threshold.
Corresponding course angle change threshold curves can be fitted to the conditions of different vehicle types and different vehicle speeds through a kinematics rule.
And then acquiring a corresponding course angle change threshold value from the course angle change threshold value curve according to the speed information of the target vehicle at the current moment and the vehicle type of the target vehicle.
Different speed information and different vehicle types are provided, and corresponding course angle change thresholds are different, so that the speed information and the vehicle type of the target vehicle are determined, and the corresponding course angle change threshold is uniquely determined.
S402, correcting the course angle information of the target vehicle at the current moment according to the current running state of the target vehicle, the course angle change information and the course angle change threshold value.
And comparing the course angle change threshold with the course angle change information, and if the course angle change information exceeds the threshold, determining that the course angle change of the target vehicle is unreasonable and correcting the course angle information of the target vehicle at the current moment.
And when the course angle information of the target vehicle at the current moment is corrected, correcting the course angle information further according to the current running state of the target vehicle at the current moment.
In one embodiment, the course angle information of the target vehicle at the current moment can be comprehensively corrected according to the current running state of the target vehicle, the course angle change threshold and the course angle change information; for example, the course angle information of the target vehicle at the current moment is directly corrected through a preset correction model, specifically, the current driving state of the target vehicle, the course angle change information and a course angle change threshold are used as the input of the preset correction model, and the course angle information of the target vehicle at the current moment is directly output through the analysis of the correction model.
The course angle correction method obtains the course angle change threshold value, and corrects the course angle information of the target vehicle at the current moment according to the current running state of the target vehicle, the course angle change information and the course angle change threshold value. According to the method, the course angle information of the target vehicle at the current moment is corrected by considering the current running state of the target vehicle, the course angle change information and the course angle change threshold, so that abnormal shaking and rotation of the course angle of the target vehicle in the current running state can be effectively inhibited.
In one embodiment, the correcting the course angle information of the target vehicle at the current time according to the current driving state of the target vehicle, the course angle change information and the course angle change threshold value comprises: and if the current running state of the target vehicle is a parking state and the absolute value of the course angle change information is greater than the course angle change threshold, correcting the course angle information of the target vehicle at the current moment into the course angle information of the target vehicle at the previous moment.
And if the current running state of the target vehicle is a parking state and the absolute value of the course angle change information of the target vehicle is greater than the course angle change threshold, correcting the course angle information of the target vehicle at the current moment into the course angle information of the target vehicle at the previous moment.
Otherwise, if the current running state of the target vehicle is a parking state and the absolute value of the course angle change information of the target vehicle is less than or equal to the course angle change threshold, the course angle change of the target vehicle is within the allowable change range, the course angle information of the target vehicle at the current moment does not need to be corrected, and the course angle information of the target vehicle at the current moment is not changed.
In one embodiment, the correcting the course angle information of the target vehicle at the current time according to the current driving state of the target vehicle, the course angle change information and the course angle change threshold value comprises: and if the current running state of the target vehicle is a running state, correcting the course angle information of the target vehicle at the current moment according to the relation between the absolute value of the course angle change information and the course angle change threshold.
If the current running state of the target vehicle is a running state, the course angle change information needs to be limited in the kinematics law, so the course angle information of the target vehicle at the current moment is corrected according to the relation between the absolute value of the course angle change information of the target vehicle and the course angle change threshold.
If the current running state of the target vehicle is a running state and the absolute value of the course angle change information of the target vehicle is less than or equal to the course angle change threshold, the course angle change of the target vehicle is within the allowable change range, the course angle information of the target vehicle at the current moment does not need to be corrected, and the course angle information of the target vehicle at the current moment does not change.
If the current running state of the target vehicle is a running state and the absolute value of the course angle change information of the target vehicle is greater than the course angle change threshold, attenuating the part exceeding the threshold, determining an attenuation threshold, and then correcting the course angle information of the target vehicle at the current moment according to the course angle information and the attenuation threshold at the last moment.
In one embodiment, as shown in fig. 6, the step of correcting the heading angle information of the target vehicle at the current time according to the relationship between the absolute value of the heading angle change information and the heading angle change threshold includes the following steps:
s601, if the absolute value of the course angle change information is larger than a course angle change threshold and the course angle change information is larger than 0, determining course angle correction information of the target vehicle according to the ratio between the course angle change information and the course angle change threshold.
If the absolute value of the course angle change information is greater than the course angle change threshold and the course angle change information is greater than 0, attenuating the part exceeding the course angle change threshold to obtain course angle correction information of the target vehicle, wherein the attenuation mode is as follows:
Δangle＝ang_thres + ang_thres*log10(ang_diff/ang_thres) (3)
where Δ angle represents the course angle correction information of the target vehicle, ang _ thres represents the course angle change threshold, and ang _ diff represents the course angle change information of the target vehicle.
S602, correcting the course angle information of the target vehicle at the current moment according to the sum of the course angle information of the target vehicle at the previous moment and the course angle correction information.
And according to the sum of the course angle information and the course angle correction information of the target vehicle at the previous moment, correcting the course angle information of the target vehicle at the current moment in a way that the sum of the course angle information and the course angle correction information of the target vehicle at the previous moment is determined as the course angle information of the target vehicle at the current moment. As shown in the following formula:
wherein track _ angle represents the course angle information of the target vehicle at the current moment, and last _ angle represents the course angle information of the target vehicle at the previous moment.
According to the course angle correction method, if the absolute value of the course angle change information is greater than the course angle change threshold and the course angle change information is greater than 0, the course angle correction information of the target vehicle is determined according to the ratio between the course angle change information and the course angle change threshold, and then the course angle information of the target vehicle at the current moment is corrected according to the sum of the course angle information of the target vehicle at the previous moment and the course angle correction information. According to the method, under the condition that the absolute value of the course angle change information of the target vehicle is greater than the course angle change threshold and the course angle change information is greater than 0, the course angle information of the target vehicle at the current moment is corrected, and the accuracy of the course angle information of the target vehicle at the current moment is improved.
In one embodiment, as shown in fig. 7, the correcting the heading angle information of the target vehicle at the current time according to the relationship between the absolute value of the heading angle change information and the heading angle change threshold includes:
s701, if the absolute value of the course angle change information is larger than a course angle change threshold and the course angle change information is smaller than 0, acquiring the ratio between the absolute value of the course angle change information and the course angle change threshold, and determining course angle correction information of the target vehicle.
If the absolute value of the course angle change information is larger than the course angle change threshold and the course angle change information is smaller than 0, attenuating the part exceeding the course angle change threshold to obtain course angle correction information of the target vehicle, wherein the attenuation mode is as follows:
Δangle＝ang_thres+ang_thres*log10(|ang_diff|/ang_thres) (5)
wherein Δ angle represents the course angle correction information of the target vehicle, ang _ thres represents the course angle change threshold, and ang _ diff represents the course angle change information of the target vehicle.
S702, correcting the course angle information of the target vehicle at the current moment according to the difference between the course angle information of the target vehicle at the previous moment and the course angle correction information.
And according to the difference between the course angle information of the target vehicle at the previous moment and the course angle correction information, correcting the course angle information of the target vehicle at the current moment in a way that the sum of the course angle information of the target vehicle at the previous moment and the course angle correction information is determined as the course angle information of the target vehicle at the current moment. As shown in the following formula:
wherein track _ angle represents the course angle information of the target vehicle at the current moment, and last _ angle represents the course angle information of the target vehicle at the previous moment.
According to the course angle correction method, if the absolute value of the course angle change information is larger than the course angle change threshold and the course angle change information is smaller than 0, the ratio between the absolute value of the course angle change information and the course angle change threshold are obtained, the course angle correction information of the target vehicle is determined, and then the course angle information of the target vehicle at the current moment is corrected according to the difference between the course angle information of the target vehicle at the previous moment and the course angle correction information. According to the method, under the condition that the absolute value of the course angle change information of the target vehicle is larger than the course angle change threshold and the course angle change information is smaller than 0, the course angle information of the target vehicle at the current moment is corrected, and the accuracy of the course angle information of the target vehicle at the current moment is improved.
In the above embodiments, the course angle information of the target vehicle at the current time is corrected according to the current driving state of the target vehicle, and how to determine the current driving state of the target vehicle is described below by an embodiment, as shown in fig. 8, the embodiment includes the following steps:
s801, position coordinate information of the target vehicle at a plurality of continuous moments is acquired.
The current running state of the target vehicle is judged according to historical position coordinate information of the target vehicle, wherein the historical position coordinate information can be position coordinate information of the target vehicle at a plurality of continuous moments, and the plurality of continuous moments are a plurality of continuous moments before the current moment and comprise the current moment.
The method for acquiring the position coordinate information of the target vehicle at a plurality of continuous moments may be that the sensing device acquires the sensing data of the target vehicle at a plurality of continuous moments, and then detects the sensing data to obtain the position coordinate information of the target vehicle at a plurality of continuous moments.
S802, determining the speed information of the target vehicle at a plurality of continuous moments according to the position coordinate information of the target vehicle at the plurality of continuous moments.
And then, calculating the speed information of the adjacent time according to the position coordinate information of the target vehicle at a plurality of continuous time. For example, the speed information of the target vehicle at the present time is determined based on the position coordinate information of the target vehicle at the previous time and the position coordinate information at the present time. According to this method, a plurality of pieces of speed information of the target vehicle at successive times are calculated.
And S803, determining the current running state of the target vehicle according to the speed information of the target vehicle at a plurality of continuous moments.
The current driving state of the target vehicle is determined according to the speed information of the target vehicle at a plurality of continuous moments, and it should be noted that if the number of the historical data collected by the target vehicle is less than the preset number, the course angle information of the target vehicle at the current moment is not corrected.
For example, if the historical speed information of the target vehicle is less than 10, the course angle information of the target vehicle at the current time is not corrected, and the current driving state of the target vehicle can be determined according to the speed information of the target vehicle at the last 5 consecutive times.
In one embodiment, as shown in fig. 9, determining the current driving state of the target vehicle according to the speed information of the target vehicle at a plurality of consecutive times includes the steps of:
s901, if the speed information of the target vehicle at a plurality of continuous moments is smaller than a preset speed threshold value, determining that the current running state of the target vehicle is a parking state.
And if the speed information of the target vehicle at a plurality of continuous moments is less than a preset speed threshold value, the target vehicle is considered to be in a parking state.
Wherein the preset speed threshold may be 0.1m/s.
And S902, otherwise, determining that the current running state of the target vehicle is a running state.
And if the speed information of the target vehicle at a plurality of continuous moments has speed information which is greater than or equal to a preset speed threshold, determining that the current running state of the target vehicle is a running state.
The course angle correction method comprises the steps of obtaining position coordinate information of a target vehicle at a plurality of continuous moments, determining speed information of the target vehicle at the plurality of continuous moments according to the position coordinate information of the target vehicle at the plurality of continuous moments, and determining the current running state of the target vehicle according to the speed information of the target vehicle at the plurality of continuous moments. According to the method, the current running state of the target vehicle is determined according to the speed information of the target vehicle at a plurality of continuous moments, the current running state of the target vehicle is judged by integrating the speed information of the target vehicle at a plurality of continuous moments, the accuracy of the determined current running state of the target vehicle is ensured, and therefore the accuracy of correcting the course angle information of the target vehicle at the current moment is improved.
In one embodiment, as shown in fig. 10, this embodiment includes the steps of:
s1001, calculating course angle variation of two adjacent frames of the target vehicle according to the position coordinate information of the target vehicle.
And S1002, judging whether the historical data of the target vehicle is more than 10, if so, executing the step S1003, otherwise, not processing.
S1003, determining a course angle change threshold according to the speed and the type of the target vehicle.
And S1004, determining the latest continuous 5-frame speed information of the target vehicle according to the historical position coordinate information of the target vehicle.
S1005, if the latest continuous 5 frames of speed information of the target vehicle are less than 0.1m/S, determining that the target vehicle is in a parking state, and executing a step S1006, otherwise, determining that the target vehicle is in a driving state, and executing a step S1008.
S1006, judging whether the absolute value of the course angle variation is larger than a course angle variation threshold, if so, executing the step S1007, otherwise, not processing.
And S1007, determining the course angle of the previous frame as the course angle of the target vehicle in the current frame.
S1008 determines whether the absolute value of the heading angle variation is greater than the heading angle variation threshold, and if so, executes step S1009.
S1009 determines whether the heading angle variation is greater than 0, if so, then step S1010 is executed, otherwise, step S1011 is executed.
S1010, the current frame heading angle = previous frame heading angle + heading angle change threshold log10 (heading angle change/heading angle change threshold)
S1011, the current frame heading angle = previous frame heading angle-heading angle change threshold log10 (absolute value of heading angle change/heading angle change threshold).
And S1012, ending.
It should be understood that, although the steps in the flowcharts related to the embodiments as described above are sequentially displayed as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be rotated or alternated with other steps or at least a part of the steps or stages in other steps.
Based on the same inventive concept, the embodiment of the application also provides a course angle correction device for realizing the course angle correction method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the method, so the specific limitations in one or more embodiments of the course angle correction device provided below can be referred to the limitations of the course angle correction method in the foregoing, and details are not repeated herein.
In one embodiment, as shown in fig. 11, there is provided a heading angle correction apparatus 1100, including: an obtaining module 1101, a determining module 1102 and a modifying module 1103, wherein:
the obtaining module 1101 is configured to obtain course angle information of the target vehicle at a previous time and course angle information at a current time;
the determining module 1102 is configured to determine course angle change information of the target vehicle according to the course angle information at the previous time and the course angle information at the current time;
the correcting module 1103 is configured to correct the course angle information of the target vehicle at the current time according to the current driving state of the target vehicle and the course angle change information.
In one embodiment, the modification module 1103 includes:
the acquiring unit is used for acquiring a course angle change threshold;
and the correction unit is used for correcting the course angle information of the target vehicle at the current moment according to the current running state of the target vehicle, the course angle change information and the course angle change threshold value.
In one embodiment, the obtaining unit includes:
the acquiring subunit is used for acquiring the speed information of the target vehicle at the current moment and the vehicle type of the target vehicle;
the first determining subunit is used for determining a course angle change threshold according to the speed information and the vehicle type; the speed information and the vehicle type have a one-to-one correspondence with a heading angle change threshold.
In one embodiment, the correction unit includes:
and the first correction subunit is used for correcting the course angle information of the target vehicle at the current moment into the course angle information of the target vehicle at the previous moment if the current running state of the target vehicle is a parking state and the absolute value of the course angle change information is greater than the course angle change threshold.
In one embodiment, the correction unit includes:
and the second correction subunit is used for correcting the course angle information of the target vehicle at the current moment according to the relationship between the absolute value of the course angle change information and the course angle change threshold if the current running state of the target vehicle is a running state.
In one embodiment, the second correction subunit includes:
the second determining subunit is used for determining course angle correction information of the target vehicle according to the ratio between the course angle change information and the course angle change threshold if the absolute value of the course angle change information is greater than the course angle change threshold and the course angle change information is greater than 0;
and the third correction subunit is used for correcting the course angle information of the target vehicle at the current moment according to the sum of the course angle information of the target vehicle at the previous moment and the course angle correction information.
In one embodiment, the second correction subunit includes:
the third determining subunit is used for acquiring the ratio between the absolute value of the course angle change information and the course angle change threshold if the absolute value of the course angle change information is greater than the course angle change threshold and the course angle change information is less than 0, and determining course angle correction information of the target vehicle;
and the fourth correction subunit is used for correcting the course angle information of the target vehicle at the current moment according to the difference between the course angle information of the target vehicle at the previous moment and the course angle correction information.
In one embodiment, the apparatus 1100 further comprises:
the position acquisition module is used for acquiring position coordinate information of the target vehicle at a plurality of continuous moments;
the speed determining module is used for determining the speed information of the target vehicle at a plurality of continuous moments according to the position coordinate information of the target vehicle at the plurality of continuous moments;
and the running state determining module is used for determining the current running state of the target vehicle according to the speed information of the target vehicle at a plurality of continuous moments.
In one embodiment, the driving state determination module includes:
the first determining unit is used for determining that the current running state of the target vehicle is a parking state if the speed information of the target vehicle at a plurality of continuous moments is smaller than a preset speed threshold value;
and the second determination unit is used for determining that the current running state of the target vehicle is the running state if the current running state of the target vehicle is not the running state.
In one embodiment, the obtaining module 1101 includes:
a position acquisition unit for acquiring position coordinate information of the target vehicle at a previous time and position coordinate information at a current time;
and the third determining unit is used for determining the course angle information of the target vehicle at the current moment according to the position coordinate information of the target vehicle at the previous moment and the position coordinate information of the target vehicle at the current moment.
Each module in the above course angle correction device may be wholly or partially implemented by software, hardware, or a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 12. The computer device includes a processor, a memory, an Input/Output interface (I/O for short), and a communication interface. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface is connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used to store course angle correction data. The input/output interface of the computer device is used for exchanging information between the processor and an external device. The communication interface of the computer device is used for connecting and communicating with an external terminal through a network. The computer program is executed by a processor to implement a course angle correction method.
Those skilled in the art will appreciate that the architecture shown in fig. 12 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is further provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method embodiments when executing the computer program.
The implementation principle and technical effect of each step implemented by the processor in this embodiment are similar to the principle of the above-mentioned course angle correction method, and are not described herein again.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
In the present embodiment, the implementation principle and the technical effect of each step implemented when the computer program is executed by the processor are similar to the principle of the above-mentioned course angle correction method, and are not described herein again.
In an embodiment, a computer program product is provided, comprising a computer program which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
In the present embodiment, the implementation principle and the technical effect of each step implemented when the computer program is executed by the processor are similar to the principle of the above-mentioned course angle correction method, and are not described herein again.
It should be noted that the data (including but not limited to data for analysis, stored data, displayed data, etc.) referred to in the present application are all information and data authorized by the user or fully authorized by each party, and the collection, use and processing of the relevant data need to comply with relevant laws and regulations and standards of relevant countries and regions.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), magnetic Random Access Memory (MRAM), ferroelectric Random Access Memory (FRAM), phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (14)
1. A course angle correction method is characterized by comprising the following steps:
acquiring course angle information of a target vehicle at a previous moment and course angle information of the target vehicle at a current moment;
determining course angle change information of the target vehicle according to the course angle information of the previous moment and the course angle information of the current moment;
and correcting the course angle information of the target vehicle at the current moment according to the current running state of the target vehicle and the course angle change information.
2. The method of claim 1, wherein the modifying the heading angle information of the target vehicle at the current time based on the current driving status of the target vehicle and the heading angle change information comprises:
acquiring a course angle change threshold;
and correcting the course angle information of the target vehicle at the current moment according to the current running state of the target vehicle, the course angle change information and the course angle change threshold.
3. The method of claim 2, wherein obtaining the heading angle change threshold comprises:
acquiring the speed information of the target vehicle at the current moment and the vehicle type of the target vehicle;
determining the course angle change threshold according to the speed information and the vehicle type; the speed information and the vehicle type have a one-to-one correspondence with the heading angle change threshold.
4. The method as claimed in claim 2 or 3, wherein the modifying the heading angle information of the target vehicle at the current time according to the current driving state of the target vehicle, the heading angle change information and the heading angle change threshold value comprises:
and if the current running state of the target vehicle is a parking state and the absolute value of the course angle change information is greater than the course angle change threshold, correcting the course angle information of the target vehicle at the current moment into the course angle information of the target vehicle at the previous moment.
5. The method as claimed in claim 2 or 3, wherein the modifying the heading angle information of the target vehicle at the current time according to the current driving state of the target vehicle, the heading angle change information and the heading angle change threshold value comprises:
and if the current running state of the target vehicle is a running state, correcting the course angle information of the target vehicle at the current moment according to the relation between the absolute value of the course angle change information and the course angle change threshold.
6. The method as claimed in claim 5, wherein the modifying the heading angle information of the target vehicle at the current time according to the relationship between the absolute value of the heading angle change information and the heading angle change threshold comprises:
if the absolute value of the course angle change information is greater than the course angle change threshold and the course angle change information is greater than 0, determining course angle correction information of the target vehicle according to the ratio between the course angle change information and the course angle change threshold;
and correcting the course angle information of the target vehicle at the current moment according to the sum of the course angle information of the target vehicle at the previous moment and the course angle correction information.
7. The method as claimed in claim 5, wherein the modifying the heading angle information of the target vehicle at the current time according to the relationship between the absolute value of the heading angle change information and the heading angle change threshold comprises:
if the absolute value of the course angle change information is larger than the course angle change threshold and the course angle change information is smaller than 0, acquiring the ratio of the absolute value of the course angle change information to the course angle change threshold and the course angle change threshold, and determining course angle correction information of the target vehicle;
and correcting the course angle information of the target vehicle at the current moment according to the difference between the course angle information of the target vehicle at the previous moment and the course angle correction information.
8. The method according to any one of claims 1-3, further comprising:
acquiring position coordinate information of the target vehicle at a plurality of continuous moments;
determining the speed information of the target vehicle at a plurality of continuous moments according to the position coordinate information of the target vehicle at the plurality of continuous moments;
and determining the current running state of the target vehicle according to the speed information of the target vehicle at a plurality of continuous moments.
9. The method of claim 8, wherein determining the current driving state of the target vehicle based on the speed information of the target vehicle at a plurality of consecutive time instants comprises:
if the speed information of the target vehicle at a plurality of continuous moments is smaller than a preset speed threshold value, determining that the current running state of the target vehicle is a parking state;
otherwise, determining the current running state of the target vehicle as a running state.
10. The method according to any one of claims 1-3, wherein obtaining heading angle information of the target vehicle at a current time comprises:
acquiring position coordinate information of the target vehicle at the previous moment and position coordinate information of the target vehicle at the current moment;
and determining course angle information of the target vehicle at the current moment according to the position coordinate information of the target vehicle at the previous moment and the position coordinate information of the target vehicle at the current moment.
11. A course angle correction apparatus, characterized in that the apparatus comprises:
the acquisition module is used for acquiring course angle information of the target vehicle at the previous moment and course angle information of the target vehicle at the current moment;
the determining module is used for determining the course angle change information of the target vehicle according to the course angle information of the previous moment and the course angle information of the current moment;
and the correction module is used for correcting the course angle information of the target vehicle at the current moment according to the current running state of the target vehicle and the course angle change information.
12. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of any one of claims 1 to 10 when executing the computer program.
13. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 10.
14. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 10 when executed by a processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211702737.9A CN115824229A (en) | 2022-12-29 | 2022-12-29 | Course angle correction method, device, equipment, storage medium and program product |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211702737.9A CN115824229A (en) | 2022-12-29 | 2022-12-29 | Course angle correction method, device, equipment, storage medium and program product |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115824229A true CN115824229A (en) | 2023-03-21 |
Family
ID=85519157
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211702737.9A Pending CN115824229A (en) | 2022-12-29 | 2022-12-29 | Course angle correction method, device, equipment, storage medium and program product |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115824229A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117053803A (en) * | 2023-10-10 | 2023-11-14 | 腾讯科技（深圳）有限公司 | Course information processing method, device, equipment and computer readable storage medium |
| CN117818754A (en) * | 2024-03-04 | 2024-04-05 | 辅易航智能科技(苏州)有限公司 | Course angle correction method and device, storage medium and electronic equipment |
-
2022
- 2022-12-29 CN CN202211702737.9A patent/CN115824229A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117053803A (en) * | 2023-10-10 | 2023-11-14 | 腾讯科技（深圳）有限公司 | Course information processing method, device, equipment and computer readable storage medium |
| CN117053803B (en) * | 2023-10-10 | 2024-01-26 | 腾讯科技（深圳）有限公司 | Course information processing method, device, equipment and computer readable storage medium |
| CN117818754A (en) * | 2024-03-04 | 2024-04-05 | 辅易航智能科技(苏州)有限公司 | Course angle correction method and device, storage medium and electronic equipment |
| CN117818754B (en) * | 2024-03-04 | 2024-05-28 | 辅易航智能科技(苏州)有限公司 | Course angle correction method and device, storage medium and electronic equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115824229A (en) | Course angle correction method, device, equipment, storage medium and program product | |
| CN110852342B (en) | Road network data acquisition method, device, equipment and computer storage medium | |
| CN107403482B (en) | A kind of method, apparatus and system of determining VMT Vehicle-Miles of Travel number | |
| CN111652952B (en) | Lane line generation method, lane line generation device, computer device, and storage medium | |
| CN114761761B (en) | Information acquisition method and device | |
| CN111824181A (en) | Trajectory planning method and device | |
| CN110109165B (en) | Method and device for detecting abnormal points in driving track | |
| EP4119413A1 (en) | Error compensation method and apparatus, computer device, and storage medium | |
| CN114705249B (en) | Pollutant emission monitoring method based on artificial intelligence and related equipment | |
| CN114913500B (en) | Pose determination method and device, computer equipment and storage medium | |
| CN116504059A (en) | Road congestion determination method and device, electronic equipment and storage medium | |
| CN116279410A (en) | Heading error compensation method, system, device and storage medium | |
| CN112874528B (en) | Vehicle speed determination method, vehicle speed determination device, vehicle-mounted terminal and storage medium | |
| CN115235575A (en) | Fuel quantity determination method and device, electronic equipment and storage medium | |
| CN115435812A (en) | Method and device for detecting performance of measuring equipment, computer equipment and storage medium | |
| CN114347994A (en) | Lane line position estimation method and apparatus, electronic device, and storage medium | |
| CN111857113B (en) | Positioning method and positioning device for movable equipment | |
| CN114954021A (en) | Method and device for acquiring driving range, electronic equipment and vehicle | |
| WO2023061915A1 (en) | Method for detecting a boundary of a traffic lane | |
| CN118053282A (en) | Method, apparatus, device, medium and program product for environment awareness of target area | |
| CN113763483B (en) | Method and device for calibrating pitch angle of automobile data recorder | |
| CN115857479A (en) | NEDC test method, device, computer equipment and storage medium | |
| US11170645B2 (en) | Systems and methods for detecting the location of debris and unexpected objects on roads | |
| CN113050622B (en) | Method and system for controlling path tracking of unmanned road roller, server and medium | |
| CN118293937A (en) | Evaluation method for automatic driving local planning, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |