CN114485687A - Vehicle position determining method and related device - Google Patents
Vehicle position determining method and related device Download PDFInfo
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The embodiment of the application provides a vehicle position determining method and a related device, wherein the method comprises the following steps: after a vehicle passes through a preset sampling point of a current road, sequentially acquiring elevation differences of the vehicle at a plurality of vehicle positions relative to the preset sampling point to obtain an elevation difference sequence, wherein the plurality of vehicle positions are located in a detection range; acquiring a first elevation difference subsequence and a second elevation difference subsequence; determining the ramp attribute of the current road according to the first elevation difference subsequence and the second elevation difference subsequence; and determining the target road according to the map information of each branch road in the plurality of branch roads and the ramp attribute of the current road. Therefore, the problem that slope recognition is inaccurate due to the elevation data jitter caused by objective reasons such as road surface fluctuation can be solved, and the accuracy of determining the vehicle position is improved.
Description
Technical Field
The application relates to the field of vehicle positioning, in particular to a vehicle position determining method and a related device.
Background
Currently, a method commonly used for positioning a traveling vehicle is a GPS (Global positioning System) satellite positioning method, that is, a positioning terminal receives Position coordinates transmitted by at least 3 satellites of 24 GPS satellites surrounding the earth, and determines an accurate Position of the traveling vehicle in an electronic map by combining the Position coordinates with the electronic map. However, the error of the GPS positioning in height is large, so that the specific road position where the vehicle is currently running cannot be accurately obtained, and the positioning accuracy is low.
Disclosure of Invention
The embodiment of the application provides a vehicle position display method and a related device, so that the current road of a plurality of roads on which a vehicle runs is accurately determined, and the positioning precision is improved.
In a first aspect, an embodiment of the present application provides a vehicle position determination method, including the following steps:
after a vehicle passes through preset sampling points of a current road, sequentially acquiring elevation differences of the vehicle at a plurality of vehicle positions relative to the preset sampling points to obtain an elevation difference sequence;
acquiring a first elevation difference subsequence and a second elevation difference subsequence, wherein the first elevation difference subsequence is a subsequence with the largest sum of elevation differences in all continuous subsequences included in the elevation difference sequence, and the second elevation difference subsequence is a subsequence with the smallest sum of elevation differences in all continuous subsequences included in the elevation difference sequence;
determining the ramp attribute of the current road according to the first elevation difference subsequence and the second elevation difference subsequence;
determining a target road according to the map information of each branch road in the plurality of branch roads and the ramp attribute of the current road, wherein the target road is at least one branch road in the plurality of branch roads.
In a second aspect, an embodiment of the present application provides a vehicle position determining apparatus, including:
the system comprises a first acquisition unit, a second acquisition unit and a third acquisition unit, wherein the first acquisition unit is used for sequentially acquiring the elevation difference of a vehicle relative to preset sampling points at a plurality of vehicle positions after the vehicle passes through the preset sampling points of a current road to obtain an elevation difference sequence;
a second obtaining unit, configured to obtain a first elevation difference subsequence and a second elevation difference subsequence, where the first elevation difference subsequence is a subsequence with a largest sum of elevation differences in all consecutive subsequences included in the elevation difference sequence, and the second elevation difference subsequence is a subsequence with a smallest sum of elevation differences in all consecutive subsequences included in the elevation difference sequence;
the first determining unit is used for determining the ramp attribute of the current road according to the first elevation difference subsequence and the second elevation difference subsequence;
and the second determining unit is used for determining a target road according to the map information of each branch road in the plurality of branch roads and the ramp attribute of the current road, wherein the target road is at least one branch road in the plurality of branch roads.
In a third aspect, the present application provides an electronic device, comprising a processor, a memory, and one or more programs stored in the memory and configured to be executed by the processor, the programs including instructions for performing the steps of any of the methods of the first or second aspects.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, where the computer-readable storage medium stores a computer program for electronic data exchange, where the computer program makes a computer perform some or all of the steps described in any one of the methods of the first aspect or the second aspect of the embodiments of the present application.
In a fifth aspect, the present application provides a computer program, wherein the computer program is operable to cause a computer to perform some or all of the steps as described in any of the methods of the first or second aspects of the embodiments of the present application. The computer program may be a software installation package.
It can be seen that, in the embodiment of the present application, after a vehicle passes through a preset sampling point of a current road, elevation differences of the vehicle at a plurality of vehicle positions relative to the preset sampling point are sequentially obtained to obtain an elevation difference sequence, then a first elevation difference subsequence and a second elevation difference subsequence are obtained, then a ramp attribute of the current road is determined according to the first elevation difference subsequence and the second elevation difference subsequence, and finally a target road is determined according to map information of each branch road of a plurality of branch roads and the ramp attribute of the current road. Therefore, the problem that the slope recognition is inaccurate due to the fact that elevation data shakes caused by objective reasons such as road surface fluctuation can be solved, false recognition can be avoided through multi-branch cooperation comparison of the slope attributes, and vehicle positioning accuracy is improved.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1a is a schematic view of a vehicle according to an embodiment of the present disclosure;
fig. 1b is a schematic structural diagram of an electronic device according to an embodiment of the present application;
FIG. 2a is a schematic flow chart of a vehicle position determining method according to an embodiment of the present application;
FIG. 2b is a schematic diagram illustrating a method for calculating an elevation difference according to an embodiment of the present application;
fig. 2C is a schematic diagram of a target road determination process provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of a vehicle position determining apparatus according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of another vehicle position determining apparatus according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," and the like in the description and claims of the present application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
At present, when the vehicle position is determined through a ramp, because a ramp attribute threshold labeled during map data manufacturing is inconsistent with a ramp attribute threshold during judgment, and data jitter is caused by uncertain display route fluctuation, the finally identified ramp is easy to be inaccurate, and the matched vehicle position is inaccurate.
Therefore, in order to solve the above problems, embodiments of the present application provide a vehicle position determining method and a related apparatus, and the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Referring to fig. 1a, fig. 1a is a schematic view of a vehicle according to an embodiment of the present disclosure. As shown in the figure, the vehicle 100 includes a vehicle position determining device, and the vehicle position determining device is configured to obtain a height difference between a current position of the vehicle 100 and a preset sampling point, determine a slope attribute of a current road according to the height difference, match the slope attribute with map data, and obtain a position where the current vehicle is located, where the map data may be maintained in a vehicle database or downloaded from a cloud. The vehicle can also upload the elevation difference data to the cloud end after the elevation difference is obtained according to the vehicle position determining device, and the current position of the vehicle is determined according to the map data by the cloud end.
Referring to fig. 1b, fig. 1b is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. As shown, the electronic device 110 may be applied to a vehicle, and the electronic device 110 may implement the steps in the present vehicle position determination method, where the electronic device 110 includes an application processor 120, a memory 130, a communication interface 140, and one or more programs 131, where the one or more programs 131 are stored in the memory 130 and configured to be executed by the application processor 120, and the one or more programs 131 include instructions for performing any of the steps in the above method embodiments.
The communication unit is used for supporting the communication between the first electronic equipment and other equipment. The terminal may further include a storage unit for storing program codes and data of the terminal.
The Processing Unit may be an Application Processor 120 or a controller, such as a Central Processing Unit (CPU), a general-purpose Processor, a Digital Signal Processor (DSP), an Application-Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, units, and circuits described in connection with the disclosure. The processor may also be a combination of computing functions, e.g., comprising one or more microprocessors, DSPs, and microprocessors, among others. The communication unit may be the communication interface 140, the transceiver, the transceiving circuit, etc., and the storage unit may be the memory 130.
The memory 130 may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The non-volatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. By way of example, but not limitation, many forms of Random Access Memory (RAM) are available, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct bus RAM (DR RAM).
In a specific implementation, the application processor 120 is configured to perform any one of the steps performed by the first electronic device in the above method embodiments, and when performing data transmission, such as sending, the communication interface 140 is optionally invoked to complete the corresponding operation.
Referring to fig. 2a, fig. 2a is a schematic flowchart of a vehicle position determining method according to an embodiment of the present disclosure. As shown in the figure, the vehicle position determination method includes the following steps.
S201, after a vehicle passes through preset sampling points of a current road, sequentially acquiring elevation differences of the vehicle at a plurality of vehicle positions relative to the preset sampling points to obtain an elevation difference sequence, wherein the plurality of vehicle positions are located in a detection range.
The preset sampling point can be a ramp starting point, namely whether the vehicle enters the ramp or not can be judged firstly, and the ramp starting point of the ramp is used as the preset sampling point after the vehicle enters the ramp. The acquisition mode of the elevation difference sequence may be that after the vehicle enters the ramp, the position of the ramp starting point of the ramp is determined, and then the elevation difference between the current position of the vehicle and the ramp starting point can be calculated after the vehicle travels a certain distance, that is, after the vehicle is away from the ramp starting point by a certain distance. The elevation difference can be determined once every certain driving distance to obtain an elevation difference sequence, and the elevation difference can also be determined once every certain time. The determination of the elevation difference may be completed until the vehicle leaves the position of the detection range, and the determination of the detection range may be determined in advance based on the terrain or the lengths or ranges of all the possible branches where the vehicle is currently located. For example, after entering the overhead, a plurality of branch roads corresponding to one or more exits may occur, or a plurality of branch roads exist simultaneously above and below the same spatial range, so that a spatial range may be determined as a detection range. As shown in fig. 2b, fig. 2b is a schematic diagram of an elevation difference calculation method provided by an embodiment of the present application, first, after a distance between a vehicle and a ramp starting point is L1, determining an L3 range as a detection range, and performing elevation difference calculation on the vehicle at any position within an L3 range, where a distance between a current vehicle position and a ramp starting point L2 is a sampling distance, and the sampling distance may be changed along with movement of the vehicle, so as to obtain a plurality of different elevation difference values.
S202, obtaining a first elevation difference subsequence and a second elevation difference subsequence, where the first elevation difference subsequence is a subsequence with the largest sum of elevation differences in all consecutive subsequences included in the elevation difference sequence, and the second elevation difference subsequence is a subsequence with the smallest sum of elevation differences in all consecutive subsequences included in the elevation difference sequence.
The obtained elevation difference sequence comprises a plurality of elevation difference values, the elevation difference sequence can be divided into a plurality of elevation difference subsequences, all the elevation difference values in the elevation difference subsequences are added, the obtained elevation difference subsequence with the largest value is the first elevation difference subsequence, and the obtained elevation difference subsequence with the smallest value is the second elevation difference subsequence. The continuous subsequences refer to the sequences of the elevation difference values existing in the elevation difference sequences which are continuous with each other, and the elevation difference values existing in each of the elevation difference subsequences are continuous in the acquisition order. For example, in the detection range, the obtained height difference sequence is [ -2,1, -3,4, -1,2,1, -5,4], and the continuous maximum subsequence in the height difference sequence is [4, -1,2,1], and the maximum value is: 6. therefore, the [4, -1,2,1] height difference subsequence is the first height difference subsequence.
It should be understood that the sum of the elevation difference sequences and the sum of the elevation differences of the elevation difference sequences referred to in the embodiments of the present application are obtained by summing up elements in the elevation difference sequences, and will not be described in detail later.
S203, determining the ramp attribute of the current road according to the first elevation difference subsequence and the second elevation difference subsequence.
The current road is one of the plurality of branch roads where the vehicle is actually located, the ramp attribute comprises that the road is an ascending slope, an ascending gentle slope, a descending gentle slope or a flat slope, and the sum of the sub-sequences of the height differences corresponds to different ramp attributes respectively.
S204, determining a target road according to the map information of each branch road in the multiple branch roads and the ramp attribute of the current road, wherein the target road is at least one branch road in the multiple branch roads.
The map information comprises the ramp attributes of all the branch roads, after the ramp attributes of the current road are obtained, the map information is matched with the ramp attributes of the corresponding branch roads in the map information, at least one branch road which is in accordance with the ramp attributes of the current road can be obtained, the branch road which is in accordance with the ramp attributes is determined to be the target road, and the current position of the vehicle can be determined to be on the target road. The determination of the branch road may be to determine an overhead on which the vehicle is located, determine all branch roads of the overhead as the branch road, or obtain that the vehicle is a driving start point and a destination, and determine a branch road that can reach the destination from the start point among a plurality of branch roads on the overhead as the branch road.
In this example, it can be seen that, firstly, after a vehicle passes through a preset sampling point of a current road, elevation differences of the vehicle at a plurality of vehicle positions relative to the preset sampling point are sequentially obtained to obtain an elevation difference sequence, then, a first elevation difference subsequence and a second elevation difference subsequence are obtained, then, a slope attribute of the current road is determined according to a sum of the first elevation difference subsequence and a sum of the second elevation difference subsequence, and finally, a target road is determined according to map information of each branch road of a plurality of branch roads and the slope attribute of the current road. Therefore, the problem that the slope recognition is inaccurate due to the fact that elevation data shakes caused by objective reasons such as road surface fluctuation can be solved, false recognition can be avoided through multi-branch cooperation comparison of the slope attributes, and vehicle positioning accuracy is improved.
In one possible example, the determining the slope attribute of the current road according to the first subsequence of height differences and the second subsequence of height differences includes the following steps: determining the slope attribute of the current road as an ascending slope under the condition that the sum of the elevation differences of the first elevation difference subsequence is greater than a first preset value; determining that the slope attribute of the current road is an uphill gentle slope under the condition that the sum of the elevation differences of the first elevation difference subsequence is smaller than the first preset value and larger than a second preset value; determining the slope attribute of the current road as a descending gentle slope under the condition that the sum of the elevation differences of the second elevation difference subsequence is smaller than a third preset value and larger than a fourth preset value; determining that the slope attribute of the current road is a downhill when the sum of the second height difference subsequences is smaller than the fourth preset value; and determining that the slope attribute of the current road is a flat slope under the condition that the sum of the elevation differences of the first elevation difference sub-sequence is smaller than a second preset value and the sum of the elevation differences of the second elevation difference sub-sequence is larger than a third preset value.
The method comprises the steps of obtaining a first elevation difference subsequence, obtaining a second elevation difference subsequence, obtaining a sum of elevation differences of a first elevation difference subsequence, obtaining a sum of elevation differences of a second elevation difference subsequence, and determining whether the slope attribute of a current road is an ascending slope or a descending slope according to the sum of elevation differences of the first elevation difference subsequence, and otherwise, determining that the slope attribute of the current road is a flat slope. For example, it is determined that the first preset value is a, the second preset value is B, the third preset value is C, the fourth preset value is D, and a > B >0> C > D, if the sum of the elevation differences of the first elevation difference subsequence is greater than a, the first elevation difference subsequence is an uphill slope, if the sum of the elevation differences of the first elevation difference subsequence is greater than B and less than a, the first elevation difference subsequence is an uphill gentle slope, if the sum of the elevation differences of the second elevation difference subsequence is greater than D and less than C, the second elevation difference subsequence is a downhill slope, if the sum of the elevation differences of the second elevation difference subsequence is less than D, the current road slope attribute is a flat slope, if the first elevation difference subsequence and the second elevation difference subsequence are not satisfied, the current road slope attribute is a flat slope. The value of determining the first preset value as a, the second preset value as B, the third preset value as C, and the fourth preset value as D may be determined according to a divided value of the ramp attribute on the map data.
Therefore, in the example, the slope attributes are judged by calculating the maximum elevation change in the detection distance, so that the problem that the slope identification is inaccurate due to the elevation data jitter caused by objective reasons such as road surface fluctuation can be solved, and the positioning accuracy of the vehicle position is improved.
In one possible example, the determining the target road according to the map information of each of the plurality of branch roads and the slope attribute of the current road includes: determining the ramp attribute of each branch road according to the map information of each branch road; and determining a branch road with the same slope attribute as that of the current road in the plurality of branch roads as a target road.
The ramp attribute of the current road can be determined according to the sum of the height differences, then the ramp attribute of the corresponding branch road in the map information is obtained, and the branch road with the same ramp attribute as the current road in the map information is determined to be the target road. At this time, the current position of the vehicle is still within the detection range, the determined target roads may be the same or different after the current position is changed, if there are multiple target roads, the target road determined at each vehicle position may be obtained, and finally, the road with the intersection in the target roads determined by multiple vehicle positions is selected as the final target road. For example, as shown in fig. 2C, fig. 2C is a schematic diagram of a target road determination process provided in an embodiment of the present application, where the target road determined at the vehicle position 1 according to the above method has three of a branch road X, a branch road Y, and a branch road Z, and the target road determined at the vehicle position 2 has two of a branch road X and a branch road M, then the road X may be determined as the final target road.
Therefore, in the example, the branch matching result is used as the candidate road, that is, the candidate road participating in the ramp recognition is filtered by the positioning precision and the road topology relation, so that the interference of the invalid parallel road is effectively eliminated, and the ramp recognition accuracy is improved. And the attributes of the ramp are cooperatively compared through multiple branches, so that the error identification can be avoided, and the positioning precision of the vehicle position is improved.
In one possible example, the determining the target road according to the map information of each of the plurality of branch roads and the slope attribute of the current road includes: determining a branch road with the same slope attribute as the current road in the plurality of branch roads as an alternative road, wherein the elevation difference sequence comprises an elevation difference corresponding to the current vehicle position and an elevation difference corresponding to a vehicle position before the current vehicle position; determining the next vehicle position as the current vehicle position, and deleting the branch road with the ramp attribute different from that of the current road, wherein the ramp attribute is included in the alternative road; repeating the steps until the current vehicle position is out of the detection range; and determining at least one branch road in the alternative roads as a target road.
The elevation difference values at a plurality of vehicle positions can be acquired in the detection range, so that the elevation difference values included in the elevation difference sequence gradually increase along with the movement of the vehicle, at the moment, the branch roads can be screened in real time in the vehicle movement process until the vehicle leaves the detection range, the determined final branch road is the target road, and the detection range can be determined according to the vehicle driving distance or the number of the acquired elevation difference values, so that the detection range can be set in advance according to the requirements, and can also be changed in the process of acquiring the elevation difference.
Therefore, in the embodiment, the non-conforming branches are screened out from the branch roads in real time according to the current position of the vehicle until the vehicle leaves the detection range, so that the interference of the invalid parallel road is effectively eliminated, the identification accuracy of the ramp is improved, and the positioning accuracy of the vehicle position is ensured.
In one possible example, the determining the slope attribute of the current road according to the first subsequence of height differences and the second subsequence of height differences includes the following steps: acquiring a first distance between the vehicle position corresponding to the first elevation difference in the first elevation difference subsequence and the preset sampling point; acquiring a second distance between the vehicle position corresponding to the first elevation difference in the second elevation difference subsequence and the preset sampling point; determining a first ramp attribute corresponding to the current road according to the first elevation difference subsequence; determining a second ramp attribute corresponding to the current road according to the second elevation difference subsequence; determining the ramp attribute of the current road according to the first distance, the second distance, the first ramp attribute and the second ramp attribute, wherein the current road comprises two ramps with different ramp attributes, and the ramp attributes of the two ramps with different ramp attributes are the first ramp attribute and the second ramp attribute respectively.
If one ramp attribute of the current road is determined according to the sum of the first elevation difference subsequence and another ramp attribute of the current road is determined according to the sum of the second elevation difference subsequence, the fact that two different ramp attributes exist in the detection range at the same time is meant. It should be noted that, if the slope attributes of the road determined according to the elevation difference sequence are two different slope attributes, in the present application, when determining the target road, the combined calculation needs to be performed according to two parameters, namely, the distance and the position, at the same time, so as to determine the final target road. For example, the slope attribute of the road existing at the starting point of the slope is an ascending slope, and after a certain distance, a descending gentle slope appears on the road, so that when the slope attribute of the road matches the slope attribute of the branch in the map information, the branch road with only one slope attribute can be screened out first, then the appearance sequence of the two slopes of the current road is determined, and the two slopes are matched with the appearance sequence of the slopes in the branch road. For example, if the slope attribute of the current road at the starting point of the slope is first uphill and then downhill, and one of the branch roads is first downhill and then uphill, the branch road does not match. The determining manner of the appearance order of the slope may be that a first position of a first height difference value in the first height difference subsequence in the height difference sequence is determined, a second position of the first height difference value in the second height difference subsequence in the height difference sequence is determined, and a first position of the first position and a first position of the second position in the height difference sequence is first appeared, so that the height difference subsequence corresponding to the position is first appeared, and the slope attribute corresponding to the height difference subsequence is first appeared.
Therefore, in the example, considering that a plurality of ramp attributes appear in the detection range, the branch matching result is used as the road to be selected, that is, the candidate road participating in the ramp recognition is filtered by the positioning precision and the road topological relation, so that the interference of the invalid parallel road can be effectively eliminated, and the ramp recognition accuracy is improved. And the attributes of the ramp are cooperatively compared through multiple branches, so that the error identification can be avoided, and the positioning precision of the vehicle position is ensured.
In one possible example, the sequentially acquiring the elevation differences of the vehicle at a plurality of vehicle positions relative to the preset sampling points includes: acquiring a first reading value of the barometer at the preset sampling point; obtaining a second reading of the barometer at each of the plurality of vehicle positions; and determining the elevation difference of the vehicle relative to the preset sampling points at each vehicle position according to the first reading value and the second reading value, and obtaining the elevation difference of the vehicle relative to the preset sampling points at a plurality of vehicle positions.
The vehicle may include a barometer, and the reading value of the barometer at a preset sampling point, i.e. the starting point of the ramp, is determined, and then the reading value of the barometer at each vehicle position is determined, so as to calculate the height difference value at the current vehicle position according to the reading value of the barometer at the current time and the reading value at the starting point of the ramp. Specifically, after the value of the yarn height difference is calculated, the specific height difference can be calculated again through kalman filtering, low-pass filtering or the like.
Therefore, the elevation difference is determined through the change of the reading value of the barometer, the elevation difference of the current vehicle position relative to the preset sampling point can be simply and quickly determined, and the positioning precision of the vehicle position is ensured.
In one possible example, the sequentially acquiring the elevation differences of the vehicle at a plurality of vehicle positions relative to the preset sampling points includes: obtaining attitude information of the vehicle at each of a plurality of vehicle positions; acquiring the distance from the preset sampling point to each vehicle position of the vehicle; and determining the elevation difference of the vehicle relative to the preset sampling points at each vehicle position according to the attitude information and the distance to obtain the elevation difference of the vehicle relative to the preset sampling points at a plurality of vehicle positions.
Wherein the attitude information includes whether the current state of the vehicle is in a depression angle or an elevation angle. The height difference can be calculated by using a GLOBAL NAVIGATION satellite system (GLOBAL NAVIGATION SATELLITE SYSTEM, GNSS), an INERTIAL MEASUREMENT UNIT (IMU) and an odometer for combined positioning, and the pitch angle and the vehicle speed or distance. For example, if the current attitude information of the vehicle is that the current elevation angle of the vehicle is 15 degrees, and the distance from the current position of the vehicle to the preset sampling point, that is, the distance from the starting point of the ramp is 100 meters, the current elevation difference of the vehicle relative to the starting point of the ramp can be calculated according to the elevation angle and the distance.
Therefore, the elevation difference is determined according to the attitude information of the vehicle and the distance between the current vehicle position and the preset sampling point, the elevation difference of the current vehicle position relative to the preset sampling point can be simply and quickly determined, and the positioning precision of the vehicle position is ensured.
Referring to fig. 3, in accordance with the embodiment shown in fig. 2a, fig. 3 is a schematic structural diagram of a vehicle position determining apparatus provided in an embodiment of the present application, where the vehicle position determining apparatus 300 includes: the first obtaining unit 301 is configured to sequentially obtain elevation differences of a vehicle at a plurality of vehicle positions relative to preset sampling points after the vehicle passes through the preset sampling points on a current road, so as to obtain an elevation difference sequence, where the plurality of vehicle positions are located within a detection range; a second obtaining unit 302, configured to obtain a first elevation difference subsequence and a second elevation difference subsequence, where the first elevation difference subsequence is a subsequence with the largest sum of elevation differences in all consecutive subsequences included in the elevation difference sequence, and the second elevation difference subsequence is a subsequence with the smallest sum of elevation differences in all consecutive subsequences included in the elevation difference sequence; a first determining unit 303, configured to determine a ramp attribute of the current road according to the first elevation difference subsequence and the second elevation difference subsequence; a second determining unit 304, configured to determine a target road according to the map information of each of the plurality of branch roads and the ramp attribute of the current road, where the target road is at least one of the plurality of branch roads.
In one possible example, in the aspect of determining the slope attribute of the current road according to the first subsequence of height differences and the second subsequence of height differences, the first determining unit 303 is specifically configured to: determining the slope attribute of the current road as an ascending slope under the condition that the sum of the elevation differences of the first elevation difference subsequence is greater than a first preset value; determining that the slope attribute of the current road is an uphill gentle slope under the condition that the sum of the elevation differences of the first elevation difference subsequence is smaller than the first preset value and larger than a second preset value; determining the slope attribute of the current road as a descending gentle slope under the condition that the sum of the elevation differences of the second elevation difference subsequence is smaller than a third preset value and larger than a fourth preset value; determining that the slope attribute of the current road is a downhill when the sum of the second height difference subsequences is smaller than the fourth preset value; and determining that the slope attribute of the current road is a flat slope under the condition that the sum of the elevation differences of the first elevation difference sub-sequence is smaller than a second preset value and the sum of the elevation differences of the second elevation difference sub-sequence is larger than a third preset value.
In one possible example, in the aspect of determining the target road according to the map information of each of the plurality of branch roads and the ramp attribute of the current road, the second determining unit 304 is specifically configured to: determining the ramp attribute of each branch road according to the map information of each branch road; and determining the branch road with the same slope attribute as that of the current road in the plurality of branch roads as a target road.
In one possible example, in the aspect of determining the target road according to the map information of each of the plurality of branch roads and the ramp attribute of the current road, the second determining unit 304 is specifically configured to: determining a branch road with the same slope attribute as the current road in the plurality of branch roads as an alternative road, wherein the elevation difference sequence comprises an elevation difference corresponding to the current vehicle position and an elevation difference corresponding to a vehicle position before the current vehicle position; determining the next vehicle position as the current vehicle position, and deleting the branch road with the ramp attribute different from that of the current road, wherein the ramp attribute is included in the alternative road; repeating the steps until the current vehicle position is out of the detection range; and determining at least one branch road in the alternative roads as a target road.
In a possible example, the first determining unit 303 is specifically configured to, in terms of determining the slope attribute of the current road according to the first sub-sequence of height differences and the second sub-sequence of height differences: acquiring a first distance between the vehicle position corresponding to the first elevation difference in the first elevation difference subsequence and the preset sampling point; acquiring a second distance between the vehicle position corresponding to the first elevation difference in the second elevation difference subsequence and the preset sampling point; determining a first ramp attribute corresponding to the current road according to the first elevation difference subsequence; determining a second ramp attribute corresponding to the current road according to the second elevation difference subsequence; determining the ramp attribute of the current road according to the first distance, the second distance, the first ramp attribute and the second ramp attribute, wherein the current road comprises two ramps with different ramp attributes, and the ramp attributes of the two ramps with different ramp attributes are the first ramp attribute and the second ramp attribute respectively.
In one possible example, in the sequentially acquiring the elevation differences of the vehicle at the plurality of vehicle positions relative to the preset sampling points, the first acquiring unit 301 is specifically configured to: acquiring a first reading value of the barometer at the preset sampling point; obtaining a second reading of the barometer at each of the plurality of vehicle positions; and determining the elevation difference of the vehicle relative to the preset sampling points at each vehicle position according to the first reading value and the second reading value, and obtaining the elevation difference of the vehicle relative to the preset sampling points at a plurality of vehicle positions.
In one possible example, in the sequentially acquiring the elevation differences of the vehicle at the plurality of vehicle positions relative to the preset sampling points, the first acquiring unit 301 is specifically configured to: obtaining attitude information of the vehicle at each of a plurality of vehicle positions; acquiring the distance from the preset sampling point to each vehicle position of the vehicle; and determining the elevation difference of the vehicle relative to the preset sampling points at each vehicle position according to the attitude information and the distance to obtain the elevation difference of the vehicle relative to the preset sampling points at a plurality of vehicle positions.
It can be understood that, since the method embodiment and the apparatus embodiment are different presentation forms of the same technical concept, the content of the method embodiment portion in the present application should be synchronously adapted to the apparatus embodiment portion, and is not described herein again.
In the case of using an integrated unit, as shown in fig. 4, fig. 4 is a schematic structural diagram of another vehicle position determination device provided in an embodiment of the present application. In fig. 4, the vehicle position determination device 400 includes: a processing module 402 and a communication module 401. The processing module 402 is used for controlling and managing the actions of the vehicle position determination device, for example, the steps of the first acquisition unit 301, the second acquisition unit 302, the first determination unit 303, and the second determination unit 304, and/or other processes for performing the techniques described herein. The communication module 401 is used to support interaction between the vehicle position determination apparatus and other devices. As shown in fig. 4, the vehicle position determining apparatus may further include a storage module 403, the storage module 403 being used to store program codes and data of the vehicle position determining apparatus.
The Processing module 402 may be a Processor or a controller, and may be, for example, a Central Processing Unit (CPU), a general-purpose Processor, a Digital Signal Processor (DSP), an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor may also be a combination of computing functions, e.g., comprising one or more microprocessors, DSPs, and microprocessors, among others. The communication module 401 may be a transceiver, an RF circuit or a communication interface, etc. The storage module 403 may be a memory.
All relevant contents of each scene related to the method embodiment may be referred to the functional description of the corresponding functional module, and are not described herein again. Both the vehicle position determining apparatus 300 and the vehicle position determining apparatus 400 described above may perform the vehicle position determining method shown in fig. 2a described above.
The above embodiments may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, the above-described embodiments may be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions or computer programs. The procedures or functions according to the embodiments of the present application are wholly or partially generated when the computer instructions or the computer program are loaded or executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire or wirelessly. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more collections of available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. The semiconductor medium may be a solid state disk.
Embodiments of the present application also provide a computer storage medium, where the computer storage medium stores a computer program for electronic data exchange, the computer program enabling a computer to execute part or all of the steps of any one of the methods described in the above method embodiments, and the computer includes an electronic device.
Embodiments of the present application also provide a computer program product comprising a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the methods as described in the above method embodiments. The computer program product may be a software installation package, the computer comprising an electronic device.
It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
In the several embodiments provided in the present application, it should be understood that the disclosed method, apparatus and system may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative; for example, the division of the unit is only a logic function division, and there may be another division manner in actual implementation; for example, various elements or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be physically included alone, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications can be easily made by those skilled in the art without departing from the spirit and scope of the present invention, and it is within the scope of the present invention to include different functions, combination of implementation steps, software and hardware implementations.
Claims (16)
1. A vehicle position determination method, characterized by comprising the steps of:
after a vehicle passes through preset sampling points of a current road, sequentially acquiring elevation differences of the vehicle at a plurality of vehicle positions relative to the preset sampling points to obtain an elevation difference sequence;
acquiring a first elevation difference subsequence and a second elevation difference subsequence, wherein the first elevation difference subsequence is a subsequence with the largest sum of elevation differences in all continuous subsequences included in the elevation difference sequence, and the second elevation difference subsequence is a subsequence with the smallest sum of elevation differences in all continuous subsequences included in the elevation difference sequence;
determining the ramp attribute of the current road according to the first elevation difference subsequence and the second elevation difference subsequence;
determining a target road according to the map information of each branch road in the plurality of branch roads and the ramp attribute of the current road, wherein the target road is at least one branch road in the plurality of branch roads.
2. The method according to claim 1, said determining a ramp property of the current road from the first subsequence of height differences and the second subsequence of height differences, comprising the steps of:
determining the slope attribute of the current road as an ascending slope under the condition that the sum of the elevation differences of the first elevation difference subsequence is greater than a first preset value;
determining that the slope attribute of the current road is an uphill gentle slope under the condition that the sum of the elevation differences of the first elevation difference subsequence is smaller than the first preset value and larger than a second preset value;
determining the slope attribute of the current road as a descending gentle slope under the condition that the sum of the elevation differences of the second elevation difference subsequence is smaller than a third preset value and larger than a fourth preset value;
determining that the slope attribute of the current road is a downhill when the sum of the elevation differences of the second elevation difference subsequence is less than the fourth preset value;
and determining that the slope attribute of the current road is a flat slope under the condition that the sum of the elevation differences of the first elevation difference sub-sequence is smaller than a second preset value and the sum of the elevation differences of the second elevation difference sub-sequence is larger than a third preset value.
3. The method according to claim 2, the determining a target road based on the map information of each of the plurality of branch roads and the ramp attribute of the current road, comprising the steps of:
determining the ramp attribute of each branch road according to the map information of each branch road;
and determining a branch road with the same slope attribute as that of the current road in the plurality of branch roads as a target road.
4. The method according to claim 2, the determining a target road based on the map information of each of the plurality of branch roads and the ramp attribute of the current road, comprising the steps of:
determining a branch road with the same slope attribute as the current road in the plurality of branch roads as an alternative road, wherein the elevation difference sequence comprises an elevation difference corresponding to the current vehicle position and an elevation difference corresponding to a vehicle position before the current vehicle position;
determining the next vehicle position as the current vehicle position, and deleting the branch road with the ramp attribute different from that of the current road, wherein the ramp attribute is included in the alternative road;
repeating the steps until the current vehicle position is out of the detection range;
and determining at least one branch road in the alternative roads as a target road.
5. The method according to claim 2, said determining a ramp property of a current road from said first subsequence of height differences and said second subsequence of height differences, comprising the steps of:
acquiring a first distance between the vehicle position corresponding to the first elevation difference in the first elevation difference subsequence and the preset sampling point;
acquiring a second distance between the vehicle position corresponding to the first elevation difference in the second elevation difference subsequence and the preset sampling point;
determining a first ramp attribute corresponding to the current road according to the first elevation difference subsequence;
determining a second ramp attribute corresponding to the current road according to the second elevation difference subsequence;
determining the ramp attribute of the current road according to the first distance, the second distance, the first ramp attribute and the second ramp attribute, wherein the current road comprises two ramps with different ramp attributes, and the ramp attributes of the two ramps with different ramp attributes are the first ramp attribute and the second ramp attribute respectively.
6. A method according to any one of claims 1 to 5, wherein said sequentially acquiring elevation differences of the vehicle at a plurality of vehicle positions relative to the preset sampling points comprises the steps of:
acquiring a first reading value of the barometer at the preset sampling point;
obtaining a second reading of the barometer at each of the plurality of vehicle positions;
and determining the elevation difference of the vehicle relative to the preset sampling points at each vehicle position according to the first reading value and the second reading value, and obtaining the elevation difference of the vehicle relative to the preset sampling points at a plurality of vehicle positions.
7. A method according to any one of claims 1 to 5, wherein said sequentially acquiring elevation differences of the vehicle at a plurality of vehicle positions relative to the preset sampling points comprises the steps of:
obtaining attitude information of the vehicle at each of a plurality of vehicle positions;
acquiring the distance from the preset sampling point to each vehicle position of the vehicle;
and determining the elevation difference of the vehicle relative to the preset sampling points at each vehicle position according to the attitude information and the distance to obtain the elevation difference of the vehicle relative to the preset sampling points at a plurality of vehicle positions.
8. A vehicle position determining apparatus, characterized in that the apparatus comprises:
the system comprises a first acquisition unit, a second acquisition unit and a third acquisition unit, wherein the first acquisition unit is used for sequentially acquiring the elevation difference of a vehicle relative to preset sampling points at a plurality of vehicle positions after the vehicle passes through the preset sampling points of a current road to obtain an elevation difference sequence;
a second obtaining unit, configured to obtain a first elevation difference subsequence and a second elevation difference subsequence, where the first elevation difference subsequence is a subsequence with a largest sum of elevation differences in all consecutive subsequences included in the elevation difference sequence, and the second elevation difference subsequence is a subsequence with a smallest sum of elevation differences in all consecutive subsequences included in the elevation difference sequence;
the first determining unit is used for determining the ramp attribute of the current road according to the first elevation difference subsequence and the second elevation difference subsequence;
and the second determining unit is used for determining a target road according to the map information of each branch road in the plurality of branch roads and the ramp attribute of the current road, wherein the target road is at least one branch road in the plurality of branch roads.
9. The apparatus according to claim 8, said determining a ramp property of the current road from the first subsequence of height differences and the second subsequence of height differences, said first determining unit being configured to:
determining the slope attribute of the current road as an ascending slope under the condition that the sum of the elevation differences of the first elevation difference subsequence is greater than a first preset value;
determining that the slope attribute of the current road is an uphill gentle slope under the condition that the sum of the elevation differences of the first elevation difference subsequence is smaller than the first preset value and larger than a second preset value;
determining the slope attribute of the current road as a descending gentle slope under the condition that the sum of the elevation differences of the second elevation difference subsequence is smaller than a third preset value and larger than a fourth preset value;
determining that the slope attribute of the current road is a downhill when the sum of the second height difference subsequences is smaller than the fourth preset value;
and determining that the slope attribute of the current road is a flat slope under the condition that the sum of the elevation differences of the first elevation difference sub-sequence is smaller than a second preset value and the sum of the elevation differences of the second elevation difference sub-sequence is larger than a third preset value.
10. The apparatus according to claim 9, said determining a target road based on map information of each of a plurality of branch roads and a ramp attribute of the current road, said second determining unit being configured to:
determining the ramp attribute of each branch road according to the map information of each branch road;
and determining a branch road with the same slope attribute as that of the current road in the plurality of branch roads as a target road.
11. The apparatus according to claim 9, said determining a target road based on map information of each of a plurality of branch roads and a ramp attribute of the current road, said second determining unit being configured to:
determining a branch road with the same slope attribute as the current road in the plurality of branch roads as an alternative road, wherein the elevation difference sequence comprises an elevation difference corresponding to the current vehicle position and an elevation difference corresponding to a vehicle position before the current vehicle position;
determining the next vehicle position as the current vehicle position, and deleting the branch road with the ramp attribute different from that of the current road, wherein the ramp attribute is included in the alternative road;
repeating the steps until the current vehicle position is out of the detection range;
and determining at least one road in the alternative roads as a target road.
12. The apparatus according to claim 9, said determining a ramp property of a current road from said first subsequence of height differences and said second subsequence of height differences, said first determining unit being configured to:
acquiring a first distance between the vehicle position corresponding to the first elevation difference in the first elevation difference subsequence and the preset sampling point;
acquiring a second distance between the vehicle position corresponding to the first elevation difference in the second elevation difference subsequence and the preset sampling point;
determining a first ramp attribute corresponding to the current road according to the first elevation difference subsequence;
determining a second ramp attribute corresponding to the current road according to the second elevation difference subsequence;
determining the ramp attribute of the current road according to the first distance, the second distance, the first ramp attribute and the second ramp attribute, wherein the current road comprises two ramps with different ramp attributes, and the ramp attributes of the two ramps with different ramp attributes are the first ramp attribute and the second ramp attribute respectively.
13. The apparatus according to any one of claims 8 to 12, said sequentially acquiring the height differences of the vehicle at a plurality of vehicle positions with respect to the preset sampling point, said first acquiring unit being configured to:
acquiring a first reading value of the barometer at the preset sampling point;
obtaining a second reading of the barometer at each of the plurality of vehicle positions;
and determining the elevation difference of the vehicle relative to the preset sampling points at each vehicle position according to the first reading value and the second reading value, and obtaining the elevation difference of the vehicle relative to the preset sampling points at a plurality of vehicle positions.
14. The apparatus according to any one of claims 8 to 12, said sequentially acquiring the height differences of the vehicle at a plurality of vehicle positions with respect to the preset sampling point, said first acquiring unit being configured to:
obtaining attitude information of the vehicle at each of a plurality of vehicle positions;
acquiring the distance from the preset sampling point to each vehicle position of the vehicle;
and determining the elevation difference of the vehicle relative to the preset sampling points at each vehicle position according to the attitude information and the distance to obtain the elevation difference of the vehicle relative to the preset sampling points at a plurality of vehicle positions.
15. An electronic device comprising a processor, a memory, and one or more programs stored in the memory and configured to be executed by the processor, the programs comprising instructions for performing the steps in the method of any of claims 1-7 or 8-14.
16. A computer-readable storage medium, characterized in that a computer program for electronic data exchange is stored, wherein the computer program causes a computer to perform the method according to any of claims 1-7 or 8-14.
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