CN115900645B - Vehicle elevation calculation method and device, electronic equipment and storage medium - Google Patents
Vehicle elevation calculation method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The application discloses a vehicle elevation calculation method, a vehicle elevation calculation device, electronic equipment and a storage medium; the method comprises the following steps: receiving the position of the vehicle at the current moment, which is sent by the vehicle; calculating the lane center line which is in the same direction and closest to the vehicle according to the position of the vehicle at the current moment; extracting elevation point data corresponding to the position of the vehicle at the current moment from the lane center line closest to the vehicle; and calculating the elevation of the vehicle at the current moment based on the elevation point data corresponding to the position of the vehicle at the current moment. According to the method and the device for automatically driving the vehicle, the problems that the elevation data of the vehicle is unstable and inaccurate are solved, the processing flow of the early-stage offline data is reduced, the elevation interpolation result is calculated in real time, the elevation of the vehicle is stable and accurate, the potential safety hazard problem of the automatically driving vehicle in complex traffic scenes such as a multilayer overpass, an upper and lower multilayer passing road and the like is solved, the accuracy of the vehicle route planning, obstacle avoidance and collision algorithm is improved, and the vehicle is used for automatically driving for safe driving and protecting navigation.
Description
Technical Field
The embodiment of the application relates to the technical field of automatic driving, in particular to a vehicle elevation calculation method, a vehicle elevation calculation device, electronic equipment and a storage medium.
Background
In the field of autopilot, high-precision positioning is divided into an outdoor part and an indoor part. In the outdoor, the elevation data of the vehicle usually receives satellite signals in real time through vehicle-mounted positioning equipment, and the primary longitude, latitude and elevation are combined with network RTK service of a foundation enhanced base station to carry out secondary deviation correction on the original spatial position; in the room, through positioning technologies such as Bluetooth, WIFI, vision, UWB and the like, the spatial position reaches centimeter-level precision.
When the vehicle acquires, calculates and rectifies the space position in real time, the vehicle elevation value is calculated inaccurately at a specific position due to reasons such as road bump, signal shielding, unstable network, few deployment points and the like, so that the elevation is suddenly increased or decreased, inaccuracy, unstable numerical value and the like, and thus, a large error is caused when the vertical height of a moving target object in the space is calculated, the occurrence of traffic accidents is caused by the failure of a collision algorithm of the moving target object, and the traffic safety hidden trouble is caused, particularly, under similar complex traffic scenes such as a multilayer overpass, an upper and lower multilayer traffic road and the like, the accuracy of the vehicle elevation value is more important.
Disclosure of Invention
The utility model provides a vehicle elevation calculation method, device, electronic equipment and storage medium, solve the unstable, inaccurate problem of vehicle self elevation data to reduce the processing procedure of earlier stage offline data, calculate the elevation interpolation result in real time, make the vehicle elevation stable, accurate, thereby solve the potential safety hazard problem of autopilot vehicle under complex traffic scene such as multilayer overpass, upper and lower multilayer traffic road, improve vehicle route planning, avoid the accuracy of barrier, collision algorithm, guarantee driving protection for the safe driving of autopilot.
In a first aspect, an embodiment of the present application provides a vehicle elevation calculation method, including:
receiving the position of the vehicle at the current moment, which is sent by the vehicle; wherein the location comprises: longitude and latitude;
calculating the lane center line which is in the same direction and closest to the vehicle according to the position of the vehicle at the current moment;
extracting elevation point data corresponding to the position of the vehicle at the current moment from the lane center line closest to the vehicle;
and calculating the elevation of the vehicle at the current moment based on elevation point data corresponding to the position of the vehicle at the current moment.
In a second aspect, embodiments of the present application further provide a vehicle elevation calculation apparatus, the apparatus including: the device comprises a receiving module, a calculating module and an extracting module; wherein,,
the receiving module is used for receiving the position of the vehicle at the current moment, which is sent by the vehicle; wherein the location comprises: longitude, latitude, and heading angle;
the calculation module is used for calculating the lane center line which is in the same direction and closest to the vehicle according to the position of the vehicle at the current moment;
the extraction module is used for extracting elevation point data corresponding to the position of the vehicle at the current moment from the lane center line closest to the vehicle;
the calculation module is further used for calculating the elevation of the vehicle at the current moment based on elevation point data corresponding to the position of the vehicle at the current moment.
In a third aspect, an embodiment of the present application provides an electronic device, including:
one or more processors;
a memory for storing one or more programs,
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle elevation calculation method described in any embodiment of the present application.
In a fourth aspect, embodiments of the present application provide a storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle elevation calculation method according to any embodiment of the present application.
The embodiment of the application provides a vehicle elevation calculation method, a vehicle elevation calculation device, electronic equipment and a storage medium, wherein the vehicle elevation calculation method, the device, the electronic equipment and the storage medium firstly receive the position of a vehicle at the current moment, which is sent by the vehicle; then calculating the lane center line which is in the same direction and closest to the vehicle according to the position of the vehicle at the current moment; then extracting elevation point data corresponding to the position of the vehicle at the current moment from the lane center line closest to the vehicle; and then calculating the elevation of the vehicle at the current moment based on the elevation point data corresponding to the position of the vehicle at the current moment. That is, in the technical scheme of the application, the elevation of the vehicle at the current moment can be calculated in real time, additional processing of high-precision map data is not needed, and the accuracy and stability of the elevation of the vehicle can be realized. In the prior art, when the vehicle acquires, calculates and rectifies the space position in real time, the elevation value of the vehicle is calculated inaccurately at a specific position due to the reasons of road bump, signal shielding, unstable network, few deployment points and the like, so that the elevation suddenly becomes larger or smaller, inaccuracy, unstable numerical value and the like are caused. Therefore, compared with the prior art, the vehicle elevation calculation method, the device, the electronic equipment and the storage medium provided by the embodiment of the application solve the problems of unstable and inaccurate vehicle elevation data, reduce the processing flow of early offline data, calculate the elevation interpolation result in real time, and enable the vehicle elevation to be stable and accurate, thereby solving the potential safety hazard problem of an automatic driving vehicle in complex traffic scenes such as a multilayer overpass, an upper and lower multilayer passing road and the like, improving the accuracy of vehicle route planning, obstacle avoidance and collision algorithm, and protecting navigation for safe driving of automatic driving; in addition, the technical scheme of the embodiment of the application is simple and convenient to realize, convenient to popularize and wider in application range.
Drawings
FIG. 1 is a schematic flow chart of a vehicle elevation calculation method according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a second flow chart of a method for calculating a vehicle elevation according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a setpoint buffer of a vehicle according to an embodiment of the present disclosure;
FIG. 4 is a third flow chart of a method for calculating a vehicle elevation according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of elevation point data in a lane center line according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram of a vehicle elevation calculation apparatus according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present application are shown in the drawings.
Example 1
Fig. 1 is a schematic flow chart of a vehicle elevation calculation method provided in an embodiment of the present application, where the method may be performed by a vehicle elevation calculation apparatus or an electronic device, and the apparatus or the electronic device may be implemented by software and/or hardware, and the apparatus or the electronic device may be integrated into any intelligent device having a network communication function. As shown in fig. 1, the vehicle elevation calculation method may include the steps of:
s101, receiving the position of the vehicle at the current moment, which is sent by the vehicle; wherein the location includes: longitude and latitude.
In this step, the electronic device may receive the position of the vehicle at the current time sent by the vehicle; wherein the location may include: longitude and latitude; in addition, the location in the embodiment of the application may also include a heading angle. Specifically, the vehicle may report the longitude and latitude in real time at each time, and thus, the electronic device may receive the position of the vehicle at the current time sent by the vehicle.
S102, calculating the lane center line which is in the same direction and closest to the vehicle according to the position of the vehicle at the current moment.
In this step, the electronic device may calculate a lane center line that is in the same direction and closest to the vehicle according to the position of the vehicle at the current time. Specifically, the electronic device may first calculate a location point buffer of the vehicle according to a position of the vehicle at a current time, and calculate a lane center line intersecting the location point buffer of the vehicle and having the same direction; the lane center line closest to the vehicle in the vertical direction is then calculated based on the lane center line intersecting the anchor point buffer of the vehicle and being in the same direction. The lane center line may be a line formed by discrete points on a plurality of lane center lines acquired during data acquisition of the high-definition map, and the discrete points may have longitude, latitude, and elevation information, and thus may be referred to as elevation points.
S103, extracting elevation point data corresponding to the position of the vehicle at the current moment from the center line of the lane closest to the vehicle.
In this step, the electronic device may extract elevation point data corresponding to the position of the vehicle at the current time in the lane center line closest to the vehicle. Specifically, the electronic device may first calculate, according to the position of the vehicle at the current time, a vertical intersection point coordinate in the vertical direction with a lane center line nearest to the vehicle; and then extracting elevation point data corresponding to the position of the vehicle at the current moment from the lane center line closest to the vehicle according to the vertical intersection point coordinates.
S104, calculating the elevation of the vehicle at the current moment based on the elevation point data corresponding to the position of the vehicle at the current moment.
In this step, the electronic device may calculate the elevation of the vehicle at the current time based on the elevation point data corresponding to the position of the vehicle at the current time. Specifically, the electronic device may calculate, first, a vertical intersection coordinate of the vehicle in a vertical direction with a lane center line closest to the vehicle according to a position of the vehicle at a current time; and then calculating the elevation of the vertical intersection point coordinate, and determining the elevation of the vertical intersection point coordinate as the elevation of the vehicle at the current moment.
The vehicle elevation calculation method provided by the embodiment of the application firstly receives the position of the vehicle at the current moment, which is sent by the vehicle; then calculating the lane center line which is in the same direction and closest to the vehicle according to the position of the vehicle at the current moment; then extracting elevation point data corresponding to the position of the vehicle at the current moment from the lane center line closest to the vehicle; and then calculating the elevation of the vehicle at the current moment based on the elevation point data corresponding to the position of the vehicle at the current moment. That is, in the technical scheme of the application, the elevation of the vehicle at the current moment can be calculated in real time, additional processing of high-precision map data is not needed, and the accuracy and stability of the elevation of the vehicle can be realized. In the prior art, when the vehicle acquires, calculates and rectifies the space position in real time, the elevation value of the vehicle is calculated inaccurately at a specific position due to the reasons of road bump, signal shielding, unstable network, few deployment points and the like, so that the elevation suddenly becomes larger or smaller, inaccuracy, unstable numerical value and the like are caused. Therefore, compared with the prior art, the vehicle elevation calculation method provided by the embodiment of the application solves the problems of unstable and inaccurate vehicle elevation data, reduces the processing flow of early-stage offline data, calculates the elevation interpolation result in real time, and ensures that the vehicle elevation is stable and accurate, thereby solving the potential safety hazard problem of an automatic driving vehicle in complex traffic scenes such as a multilayer overpass, an upper and lower multilayer passing road and the like, improving the accuracy of vehicle route planning, obstacle avoidance and collision algorithm, and protecting driving and navigation for safe driving of automatic driving; in addition, the technical scheme of the embodiment of the application is simple and convenient to realize, convenient to popularize and wider in application range.
Example two
Fig. 2 is a second flow chart of the vehicle elevation calculation method according to the embodiment of the present application. Further optimization and expansion based on the above technical solution can be combined with the above various alternative embodiments. As shown in fig. 2, the vehicle elevation calculation method may include the steps of:
s201, receiving the position of the vehicle at the current moment, which is sent by the vehicle; wherein the location includes: longitude and latitude.
S202, calculating a locating point buffer area of the vehicle according to the position of the vehicle at the current moment, and calculating a lane central line which is intersected with the locating point buffer area of the vehicle and has the same direction.
In this step, the electronic device may calculate a setpoint buffer of the vehicle according to the position of the vehicle at the current time, and calculate a lane center line intersecting the setpoint buffer of the vehicle and in the same direction. Specifically, the electronic device may calculate a circular area on the high-precision map with the position of the vehicle at the current moment as a center and a predetermined length as a radius, and use the circular area as a positioning point buffer area of the vehicle.
Fig. 3 is a schematic structural diagram of a setpoint buffer of a vehicle according to an embodiment of the present application. As shown in fig. 3, the bold line represents the road center line; the thin line represents the lane centerline. Assuming that the width of a road is 8 meters, i.e. the distance between the left and right edges is 8 meters, the position in the middle of the left and right edges is the road center point, and the distance of the road center line from the left and right edges is 4 meters, respectively. Assuming that the road comprises two lanes, respectively: an up-going lane and a down-going lane, each lane may have a lane centerline. It should be noted that the road center line in the embodiment of the present application is not directional, and the lane center line is directional. For example, the direction of the lane center line of the ascending lane is the ascending direction, and the direction of the lane center line of the descending lane is the descending direction. The upward direction and the downward direction in the embodiment of the present application represent two different directions in which the vehicle travels, respectively, and may also be referred to as a leftward direction or a rightward direction. According to the method and the device, the position of the vehicle at the current moment is used as the circle center, a round area is calculated by taking the preset length as the radius, and the round area is used as a locating point buffer zone of the vehicle. It is assumed that the vehicle in fig. 3 is traveling rightward, and thus the direction of the lane center line intersecting and in the same direction as the anchor point buffer of the vehicle is also a rightward direction.
S203, calculating the lane center line closest to the vehicle in the vertical direction based on the lane center line intersecting with the locating point buffer zone of the vehicle and in the same direction.
In this step, the electronic device may calculate a lane center line closest to the vehicle in the vertical direction based on a lane center line intersecting with and in the same direction as the anchor point buffer of the vehicle. Specifically, the electronic device may calculate a distance between a position of the vehicle at the current time and a center line of each lane in a vertical direction; the lane center line closest to the vehicle in the vertical direction is determined according to the distance between the position of the vehicle at the current time and the center line of each lane in the vertical direction. In the embodiment of the application, the center line of the lane intersecting with the locating point buffer area of the vehicle and in the same direction can be one or a plurality of lane centers.
S204, calculating the vertical intersection point coordinates of the lane center line closest to the vehicle in the vertical direction according to the position of the vehicle at the current moment.
In this step, the electronic device may calculate the vertical intersection coordinates in the vertical direction with the lane center line nearest to the vehicle from the position of the vehicle at the current time. Specifically, the electronic device may draw a perpendicular line to a lane center line closest to the vehicle on the high-precision map with the position of the vehicle at the current time as a starting point, and a coordinate of a point where the perpendicular line intersects with the lane center line is a perpendicular intersection coordinate.
S205, extracting elevation point data corresponding to the position of the vehicle at the current moment from the center line of the lane closest to the vehicle according to the vertical intersection point coordinates.
In this step, the electronic device may extract elevation point data corresponding to the position of the vehicle at the current time in the lane center line closest to the vehicle according to the vertical intersection point coordinates. Specifically, the electronic device may extract a predetermined number of original elevation point data from both sides centered on the vertical intersection coordinates in the lane center line closest to the vehicle; and then sorting the original elevation point data, and taking the sorted elevation point data as elevation point data corresponding to the position of the vehicle at the current moment.
Further, extracting a predetermined number of original elevation point data from both sides centered on the vertical intersection coordinates in the lane center line closest to the vehicle, respectively, may include: extracting one or more polyline elements intersecting a setpoint buffer of the vehicle from a lane centerline closest to the vehicle; and extracting a preset number of original elevation points on two sides of the vertical intersection point coordinates from the broken line elements. The polyline element (feature) in the embodiments of the present application may be a portion of a polyline where a lane centerline and a circle intersect.
S206, calculating the elevation of the vehicle at the current moment based on the elevation point data corresponding to the position of the vehicle at the current moment.
The vehicle elevation calculation method provided by the embodiment of the application firstly receives the position of the vehicle at the current moment, which is sent by the vehicle; then calculating the lane center line which is in the same direction and closest to the vehicle according to the position of the vehicle at the current moment; then extracting elevation point data corresponding to the position of the vehicle at the current moment from the lane center line closest to the vehicle; and then calculating the elevation of the vehicle at the current moment based on the elevation point data corresponding to the position of the vehicle at the current moment. That is, in the technical scheme of the application, the elevation of the vehicle at the current moment can be calculated in real time, additional processing of high-precision map data is not needed, and the accuracy and stability of the elevation of the vehicle can be realized. In the prior art, when the vehicle acquires, calculates and rectifies the space position in real time, the elevation value of the vehicle is calculated inaccurately at a specific position due to the reasons of road bump, signal shielding, unstable network, few deployment points and the like, so that the elevation suddenly becomes larger or smaller, inaccuracy, unstable numerical value and the like are caused. Therefore, compared with the prior art, the vehicle elevation calculation method provided by the embodiment of the application solves the problems of unstable and inaccurate vehicle elevation data, reduces the processing flow of early-stage offline data, calculates the elevation interpolation result in real time, and ensures that the vehicle elevation is stable and accurate, thereby solving the potential safety hazard problem of an automatic driving vehicle in complex traffic scenes such as a multilayer overpass, an upper and lower multilayer passing road and the like, improving the accuracy of vehicle route planning, obstacle avoidance and collision algorithm, and protecting driving and navigation for safe driving of automatic driving; in addition, the technical scheme of the embodiment of the application is simple and convenient to realize, convenient to popularize and wider in application range.
Example III
Fig. 4 is a third flow chart of the vehicle elevation calculation method according to the embodiment of the present application. Further optimization and expansion based on the above technical solution can be combined with the above various alternative embodiments. As shown in fig. 4, the vehicle elevation calculation method may include the steps of:
s401, receiving the position of the vehicle at the current moment, which is sent by the vehicle; wherein the location comprises: longitude and latitude.
S402, calculating a circular area on the high-precision map by taking the position of the vehicle at the current moment as the center of a circle and taking the preset length as the radius, taking the circular area as a positioning point buffer area of the vehicle, and calculating the center line of a lane which is intersected with the positioning point buffer area of the vehicle and has the same direction.
S403, calculating the lane center line closest to the vehicle in the vertical direction based on the lane center line intersecting with the locating point buffer zone of the vehicle and in the same direction.
S404, calculating the vertical intersection point coordinates of the center line element of the lane closest to the vehicle in the vertical direction and the center line of the lane closest to the vehicle in the vertical direction according to the position of the vehicle at the current moment.
S405, respectively extracting a predetermined number of original elevation point data from two sides centering on the vertical intersection point coordinates in the lane center line closest to the vehicle.
In this step, the electronic device may extract a predetermined number of original elevation point data respectively on both sides centering on the vertical intersection coordinates in the lane center line closest to the vehicle. Fig. 5 is a schematic structural diagram of elevation point data in a lane center line according to an embodiment of the present application. As shown in fig. 5, 4 original elevation point data are extracted at the left and right sides centering on the vertical intersection point coordinates, respectively; the original elevation point data may include: longitude, latitude, and elevation.
S406, sorting the original elevation point data according to the lane center line elements, and taking the sorted elevation point data as the elevation point data corresponding to the position of the vehicle at the current moment.
In this step, the electronic device may sort the original elevation point data according to the lane center line element, and use the sorted elevation point data as the elevation point data corresponding to the position of the vehicle at the current time. Specifically, the electronic device may sort the raw elevation point data by the elements of each elevation Cheng Dian. Because the high-precision map is synchronously processed according to a plurality of lines instead of from beginning to end of one line in the manufacturing process, discontinuity between the front element and the rear element on one line is caused, and problems occur in the process of smooth interpolation.
S407, calculating the vertical intersection point coordinates of the vehicle and the lane center line nearest to the vehicle in the vertical direction according to the position of the vehicle at the current moment.
S408, calculating the elevation of the vertical intersection point coordinate, and determining the elevation of the vertical intersection point coordinate as the elevation of the vehicle at the current moment.
In this step, the electronic device may calculate the elevation of the vertical intersection point coordinate, and determine the elevation of the vertical intersection point coordinate as the elevation of the vehicle at the current time. Specifically, when calculating the elevation of the vertical intersection point coordinate, if the vertical intersection point coordinate coincides with any one coordinate in the elevation point data corresponding to the position of the vehicle at the current moment, the electronic device may determine the elevation of the elevation point data as the elevation of the vertical intersection point coordinate; if the vertical intersection point coordinates do not coincide with all coordinates in the elevation point data corresponding to the position of the vehicle at the current moment, the electronic equipment can conduct interpolation calculation according to the elevation point data corresponding to the position of the vehicle at the current moment, and the elevation of the vertical intersection point coordinates is obtained. The method and the device can smoothly interpolate and calculate the elevation of the vertical intersection point coordinates in real time, and send the longitude and latitude of the vehicle and the elevation value after interpolation calculation to the corresponding automatic driving algorithm, so that the accuracy of the algorithm output result is ensured, and the running safety of the vehicle is ensured.
In the technical scheme provided by the application, the vehicle end does not need to use network RTK positioning service, so that centimeter-level elevation positioning can be realized, and the vehicle end positioning calculation cost is reduced; under the conditions of poor satellite network signals, road bump, complex surrounding environment and traffic environment, and the like, the accuracy and stability of the vehicle elevation can be realized; and the elevation is calculated by real-time smooth interpolation, and additional processing on high-precision map data is not needed in advance.
The vehicle elevation calculation method provided by the embodiment of the application firstly receives the position of the vehicle at the current moment, which is sent by the vehicle; then calculating the lane center line which is in the same direction and closest to the vehicle according to the position of the vehicle at the current moment; then extracting elevation point data corresponding to the position of the vehicle at the current moment from the lane center line closest to the vehicle; and then calculating the elevation of the vehicle at the current moment based on the elevation point data corresponding to the position of the vehicle at the current moment. That is, in the technical scheme of the application, the elevation of the vehicle at the current moment can be calculated in real time, additional processing of high-precision map data is not needed, and the accuracy and stability of the elevation of the vehicle can be realized. In the prior art, when the vehicle acquires, calculates and rectifies the space position in real time, the elevation value of the vehicle is calculated inaccurately at a specific position due to the reasons of road bump, signal shielding, unstable network, few deployment points and the like, so that the elevation suddenly becomes larger or smaller, inaccuracy, unstable numerical value and the like are caused. Therefore, compared with the prior art, the vehicle elevation calculation method provided by the embodiment of the application solves the problems of unstable and inaccurate vehicle elevation data, reduces the processing flow of early-stage offline data, calculates the elevation interpolation result in real time, and ensures that the vehicle elevation is stable and accurate, thereby solving the potential safety hazard problem of an automatic driving vehicle in complex traffic scenes such as a multilayer overpass, an upper and lower multilayer passing road and the like, improving the accuracy of vehicle route planning, obstacle avoidance and collision algorithm, and protecting driving and navigation for safe driving of automatic driving; in addition, the technical scheme of the embodiment of the application is simple and convenient to realize, convenient to popularize and wider in application range.
Example IV
Fig. 6 is a schematic structural diagram of a vehicle elevation calculating device according to an embodiment of the present application. As shown in fig. 6, the vehicle elevation calculation apparatus includes: a receiving module 601, a calculating module 602 and an extracting module 603; wherein,,
the receiving module 601 is configured to receive a position of the vehicle at a current moment, where the position is sent by the vehicle; wherein the location comprises: longitude and latitude;
the calculating module 602 is configured to calculate a lane center line closest to the vehicle according to a position of the vehicle at a current time;
the extracting module 603 is configured to extract elevation point data corresponding to a position of the vehicle at a current time in a lane center line closest to the vehicle;
the calculating module 602 is further configured to calculate an elevation of the vehicle at the current time based on elevation point data corresponding to a position of the vehicle at the current time.
The vehicle elevation calculating device can execute the method provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects of executing the method. Technical details not described in detail in this embodiment may be referred to the vehicle elevation calculation method provided in any embodiment of the present application.
Example five
Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Fig. 7 illustrates a block diagram of an exemplary electronic device suitable for use in implementing embodiments of the present application. The electronic device 12 shown in fig. 7 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present application.
As shown in fig. 7, the electronic device 12 is in the form of a general purpose computing device. Components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, a bus 18 that connects the various system components, including the system memory 28 and the processing units 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 7, commonly referred to as a "hard disk drive"). Although not shown in fig. 7, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of the embodiments of the present application.
A program/utility 40 having a set (at least one) of program modules 42 may be stored in, for example, memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods in the embodiments described herein.
The electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the electronic device 12, and/or any devices (e.g., network card, modem, etc.) that enable the electronic device 12 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. Also, the electronic device 12 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through a network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 over the bus 18. It should be appreciated that although not shown in fig. 7, other hardware and/or software modules may be used in connection with electronic device 12, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, for example, implementing the vehicle elevation calculation method provided in the embodiment of the present application.
Example six
Embodiments of the present application provide a computer storage medium.
Any combination of one or more computer readable media may be employed in the computer readable storage media of the embodiments herein. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present application may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Note that the above is only a preferred embodiment of the present application and the technical principle applied. Those skilled in the art will appreciate that the present application is not limited to the particular embodiments described herein, but is capable of numerous obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the present application. Therefore, while the present application has been described in connection with the above embodiments, the present application is not limited to the above embodiments, but may include many other equivalent embodiments without departing from the spirit of the present application, the scope of which is defined by the scope of the appended claims.
Claims (7)
1. A vehicle elevation calculation method, characterized in that the method comprises:
receiving the position of the vehicle at the current moment, which is sent by the vehicle; wherein the location comprises: longitude, latitude, and heading angle;
calculating a circular area on a high-precision map by taking the position of the vehicle at the current moment as a circle center and taking a preset length as a radius, taking the circular area as a positioning point buffer area of the vehicle, and calculating a lane central line which intersects with the positioning point buffer area of the vehicle and is in the same direction; calculating a lane center line closest to the vehicle in a vertical direction based on a lane center line intersecting with a localization point buffer of the vehicle and in the same direction; wherein the lane center line is composed of a plurality of discrete elevation points; each elevation point has longitude, latitude and elevation information;
calculating the vertical intersection point coordinate of the vehicle and the lane center line closest to the vehicle in the vertical direction according to the position of the vehicle at the current moment; extracting one or more polyline elements intersecting a setpoint buffer of the vehicle from a lane centerline closest to the vehicle; extracting a preset number of elevation point data on two sides of the vertical intersection point coordinates from the broken line elements to serve as elevation point data corresponding to the position of the vehicle at the current moment;
and calculating the elevation of the vehicle at the current moment based on elevation point data corresponding to the position of the vehicle at the current moment.
2. The method according to claim 1, wherein the method further comprises:
respectively extracting a predetermined number of original elevation point data from two sides of the lane center line closest to the vehicle by taking the vertical intersection point coordinates as the center;
and sequencing the original elevation point data.
3. The method of claim 1, wherein calculating the elevation of the vehicle at the current time based on elevation point data corresponding to the position of the vehicle at the current time comprises:
calculating the vertical intersection point coordinate of the vehicle and the lane center line closest to the vehicle in the vertical direction according to the position of the vehicle at the current moment;
and calculating the elevation of the vertical intersection point coordinate, and determining the elevation of the vertical intersection point coordinate as the elevation of the vehicle at the current moment.
4. A method according to claim 3, wherein calculating the elevation of the vertical intersection coordinates comprises:
if the vertical intersection point coordinate is overlapped with any one coordinate in the elevation point data corresponding to the position of the vehicle at the current moment, determining the elevation of the elevation point data as the elevation of the vertical intersection point coordinate; and if the vertical intersection point coordinates are not overlapped with all coordinates in the elevation point data corresponding to the position of the vehicle at the current moment, carrying out interpolation calculation according to the elevation point data corresponding to the position of the vehicle at the current moment to obtain the elevation of the vertical intersection point coordinates.
5. A vehicle elevation calculation apparatus, characterized in that the apparatus comprises: the device comprises a receiving module, a calculating module and an extracting module; wherein,,
the receiving module is used for receiving the position of the vehicle at the current moment, which is sent by the vehicle; wherein the location comprises: longitude, latitude, and heading angle;
the calculation module is used for calculating a circular area on a high-precision map by taking the position of the vehicle at the current moment as the center of a circle and taking the preset length as the radius, taking the circular area as a positioning point buffer area of the vehicle, and calculating a lane central line which is intersected with the positioning point buffer area of the vehicle and has the same direction; calculating a lane center line closest to the vehicle in a vertical direction based on a lane center line intersecting with a localization point buffer of the vehicle and in the same direction; wherein the lane center line is composed of a plurality of discrete elevation points; each elevation point has longitude, latitude and elevation information;
the extraction module is used for calculating the vertical intersection point coordinate of the lane center line closest to the vehicle in the vertical direction according to the position of the vehicle at the current moment; extracting one or more polyline elements intersecting a setpoint buffer of the vehicle from a lane centerline closest to the vehicle; extracting a preset number of elevation point data on two sides of the vertical intersection point coordinates from the broken line elements to serve as elevation point data corresponding to the position of the vehicle at the current moment;
the calculation module is further used for calculating the elevation of the vehicle at the current moment based on elevation point data corresponding to the position of the vehicle at the current moment.
6. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs,
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle elevation calculation method of any one of claims 1 to 4.
7. A storage medium having stored thereon a computer program, wherein the program when executed by a processor implements the vehicle elevation calculation method according to any one of claims 1 to 4.
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| CN107451241A (en) * | 2017-07-27 | 2017-12-08 | 江苏新通达电子科技股份有限公司 | The elevation information extracting method and device of a kind of road |
| CN111380546A (en) * | 2018-12-28 | 2020-07-07 | 沈阳美行科技有限公司 | Vehicle positioning method and device based on parallel road, electronic equipment and medium |
| CN113672845A (en) * | 2020-05-14 | 2021-11-19 | 阿波罗智联(北京)科技有限公司 | Vehicle track prediction method, device, equipment and storage medium |
| CN112798004B (en) * | 2020-12-31 | 2023-06-13 | 北京星云互联科技有限公司 | Positioning method, device and equipment for vehicle and storage medium |
| CN113071493B (en) * | 2021-04-16 | 2023-10-31 | 阿波罗智联(北京)科技有限公司 | Method, apparatus, storage medium and program product for lane change control of vehicle |
| CN115123303A (en) * | 2022-07-18 | 2022-09-30 | 腾讯科技（深圳）有限公司 | Vehicle driving state display method and device, electronic equipment and storage medium |
| CN115507862A (en) * | 2022-09-28 | 2022-12-23 | 智道网联科技(北京)有限公司 | Lane line positioning method and device, electronic device and storage medium |
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