EP-4737858-A1 - VEHICLE PATH POINT DETERMINATION METHOD AND APPARATUS, AND VEHICLE AND STORAGE MEDIUM

EP4737858A1EP 4737858 A1EP4737858 A1EP 4737858A1EP-4737858-A1

Abstract

Provided are a vehicle waypoint determination method, a vehicle waypoint determination apparatus, a vehicle, and a storage medium. The method includes acquiring an original waypoint sequence of a vehicle in a geodetic coordinate system; converting the original waypoint sequence into an intermediate waypoint sequence in a coordinate system with the origin being a starting waypoint of a way of the vehicle; determining a slope of each waypoint in the intermediate waypoint sequence; and converting, according to the slope of each waypoint in the intermediate waypoint sequence, the intermediate waypoint sequence into a target waypoint sequence in a dead reckoning (DR) coordinate system. According to the method, the original waypoint sequence of the vehicle in the geodetic coordinate system is converted into the intermediate waypoint sequence in the coordinate system with the origin being the starting waypoint of the way of the vehicle, and the slope of each waypoint in the intermediate waypoint sequence is determined so that the intermediate waypoint sequence is converted into the target waypoint sequence in the DR coordinate system. Thus, coordinates of the vehicle in the DR coordinate system can be obtained conveniently and accurately.

Inventors

KANG, Yixuan
WANG, Dexiang
CHEN, Qingye
LU, WEI
SUN, Yuanguang

Assignees

Huizhou Desay SV Automotive Co., Ltd.

Dates

Publication Date: 20260506
Application Date: 20231225

Claims (12)

A vehicle waypoint determination method, comprising: acquiring an original waypoint sequence of a vehicle in a geodetic coordinate system; converting the original waypoint sequence into an intermediate waypoint sequence in a coordinate system with an origin being a starting waypoint of a way of the vehicle; determining a slope of each waypoint in the intermediate waypoint sequence; and converting, according to the slope of each waypoint in the intermediate waypoint sequence, the intermediate waypoint sequence into a target waypoint sequence in a dead reckoning, DR, coordinate system.
The vehicle waypoint determination method of claim 1, wherein converting the original waypoint sequence into the intermediate waypoint sequence in the coordinate system with the origin being the starting waypoint of the way of the vehicle comprises: projecting the original waypoint sequence to obtain a first waypoint sequence; and performing coordinate translation on the first waypoint sequence to obtain a second waypoint sequence in the coordinate system with the origin being the starting waypoint of the way of the vehicle, and using the second waypoint sequence as the intermediate waypoint sequence.
The vehicle waypoint determination method of claim 2, wherein an abscissa in a coordinate system which the first waypoint sequence belongs to represents a distance from a waypoint to a central meridian of a longitude zone, and an ordinate in the coordinate system represents a distance from a waypoint to an equator.
The vehicle waypoint determination method of claim 1, wherein each waypoint in the intermediate waypoint sequence comprises a yaw angle; and before determining the slope of each waypoint in the intermediate waypoint sequence, the vehicle waypoint determination method further comprises: deleting at least one waypoint in the intermediate waypoint sequence to obtain a screened intermediate waypoint sequence, wherein a difference between a yaw angle of each of the at least one waypoint and a yaw angle of the starting waypoint of the way of the vehicle is greater than a preset yaw angle.
The vehicle waypoint determination method of claim 1 or 4, wherein determining the slope of each waypoint in the intermediate waypoint sequence comprises: for each waypoint in the intermediate waypoint sequence, determining a slope of two waypoints adjacent to each waypoint; and determining the determined slope of the two waypoints as the slope of each waypoint.
The vehicle waypoint determination method of claim 1, wherein converting, according to the slope of each waypoint in the intermediate waypoint sequence, the intermediate waypoint sequence into the target waypoint sequence in the DR coordinate system comprises: sorting slopes of all waypoints in the intermediate waypoint sequence; selecting a preset number of slopes from the sorted slopes according to a preset rule; calculating an average slope of the preset number of slopes; and converting, according to the average slope, the intermediate waypoint sequence into the target waypoint sequence in the DR coordinate system.
The vehicle waypoint determination method of claim 6, wherein converting, according to the average slope, the intermediate waypoint sequence into the target waypoint sequence in the DR coordinate system comprises: calculating, according to the average slope, a first angle of the intermediate waypoint sequence in the coordinate system where the intermediate waypoint sequence is located; and converting, according to the first angle and conversion formulae, the intermediate waypoint sequence into the target waypoint sequence in the DR coordinate system.
The vehicle waypoint determination method of claim 7, wherein the conversion formulae comprise: x i 3 = x i 2 ⋅ cos θ − y i 2 ⋅ sin θ , and y i 3 = x i 2 ⋅ sin θ + y i 2 ⋅ cos θ ; wherein i represents a positive integer, θ represents the first angle, x i 2 y i 2 represents coordinates of a waypoint in the intermediate waypoint sequence, and x i 3 y i 3 represents coordinates of a waypoint in the target waypoint sequence.
The vehicle waypoint determination method of claim 1, wherein acquiring the original waypoint sequence of the vehicle in the geodetic coordinate system comprises: determining, with onboard integrated navigation, latitude and longitude coordinates and yaw angles of the vehicle after the vehicle travels straight for a distance; and obtaining the original waypoint sequence according to the latitude and longitude coordinates and the yaw angles.
A vehicle waypoint determination apparatus, comprising: an acquisition module, which is configured to acquire an original waypoint sequence of a vehicle in a geodetic coordinate system; a first conversion module, which is configured to convert the original waypoint sequence into an intermediate waypoint sequence in a coordinate system with an origin being a starting waypoint of a way of the vehicle; a determination module, which is configured to determine a slope of each waypoint in the intermediate waypoint sequence; and a second conversion module, which is configured to convert, according to the slope of each waypoint in the intermediate waypoint sequence, the intermediate waypoint sequence into a target waypoint sequence in a dead reckoning, DR, coordinate system.
A vehicle, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein a computer program executable by the at least one processor is stored in the memory, and the computer program, when executed by the at least one processor, causes the at least one processor to perform the vehicle waypoint determination method of any one of claims 1 to 9.
A computer-readable storage medium having computer instructions stored thereon, wherein the computer instructions, when executed by a processor, cause the processor to perform the vehicle waypoint determination method of any one of claims 1 to 9.

Description

This application claims priority to Chinese Patent Application No. 202310803029.2 filed with the China National Intellectual Property Administration (CNIPA) on Jun. 30, 2023, the disclosure of which is incorporated herein by reference in its entirety. TECHNICAL FIELD Embodiments of the present application relate to the field of automobile navigation and, in particular, to a vehicle waypoint determination method, a vehicle waypoint determination apparatus, a vehicle, and a storage medium. BACKGROUND Dead reckoning (DR) is a method for estimating a position of an object at the next moment based on a position of the object at the current moment and its measured moving distance and moving direction. DR calibration is a process of optimizing an internal parameter of an algorithm to reduce the error between a position estimated by DR and an actual moving position of a vehicle, to achieve optimal performance. The key to DR calibration is to map the measured actual moving positions of the vehicle to a DR coordinate system. Currently, the mainstream method for the DR calibration is to implement this mapping process by using an Automation Dynamic Motion Analyzer (ADMA) or a ranging device. These mainstream methods have the disadvantages of high costs, complicated measurement conversion, and low efficiency. Therefore, the problem of how to conveniently obtain coordinates of the vehicle in the DR coordinate system exists in the related art. SUMMARY The present application provides a vehicle waypoint determination method, a vehicle waypoint determination apparatus, a vehicle, and a storage medium to solve the problem in the related art of a failure to accurately map actual moving positions of a vehicle to a DR coordinate system. According to an aspect of the present application, a vehicle waypoint determination method is provided. The method includes the steps below. An original waypoint sequence of a vehicle in a geodetic coordinate system is acquired. The original waypoint sequence is converted into an intermediate waypoint sequence in a coordinate system with the origin being a starting waypoint of a way of the vehicle. A slope of each waypoint in the intermediate waypoint sequence is determined. The intermediate waypoint sequence is converted into a target waypoint sequence in a DR coordinate system according to the slope of each waypoint in the intermediate waypoint sequence. According to another aspect of the present application, a vehicle waypoint determination apparatus is provided. The apparatus includes an acquisition module, a first conversion module, a determination module, and a second conversion module. The acquisition module is configured to acquire an original waypoint sequence of a vehicle in a geodetic coordinate system. The first conversion module is configured to convert the original waypoint sequence into an intermediate waypoint sequence in a coordinate system with the origin being a starting waypoint of a way of the vehicle. The determination module is configured to determine a slope of each waypoint in the intermediate waypoint sequence. The second conversion module is configured to convert, according to the slope of each waypoint in the intermediate waypoint sequence, the intermediate waypoint sequence into a target waypoint sequence in a DR coordinate system. According to another aspect of the present application, a vehicle is provided. The vehicle includes at least one processor and a memory. The memory is communicatively connected to the at least one processor. A computer program executable by the at least one processor is stored in the memory, and the computer program, when executed by the at least one processor, causes the at least one processor to perform the vehicle waypoint determination method of any embodiment of the present application. According to another aspect of the present application, a computer-readable storage medium is provided. The computer-readable storage medium has computer instructions stored thereon, where the computer instructions, when executed by a processor, cause the processor to perform the vehicle waypoint determination method of any embodiment of the present application. Embodiments of the present application provide the vehicle waypoint determination method, the vehicle waypoint determination apparatus, the vehicle, and the storage medium. The method includes acquiring the original waypoint sequence of the vehicle in the geodetic coordinate system; converting the original waypoint sequence into the intermediate waypoint sequence in the coordinate system with the origin being the starting waypoint of the way of the vehicle; determining the slope of each waypoint in the intermediate waypoint sequence; and converting, according to the slope of each waypoint in the intermediate waypoint sequence, the intermediate waypoint sequence into the target waypoint sequence in the DR coordinate system. According to the method, the original waypoint sequence of the vehicle i