JP-7857424-B2 - Vehicle route point determination method, apparatus, vehicle, and storage medium

JP7857424B2JP 7857424 B2JP7857424 B2JP 7857424B2JP-7857424-B2

Inventors

康逸軒
王徳祥
陳慶業
陸偉
孫元広

Assignees

恵州市徳賽西威汽車電子股▲フン▼有限公司

Dates

Publication Date: 20260512
Application Date: 20231225
Priority Date: 20230630

Claims (12)

A method for determining vehicle route points applicable to a vehicle , The vehicle's in-vehicle integrated navigation system acquires the initial vehicle path point sequence in the geodetic coordinate system , and the initial vehicle path point sequence is stored in the vehicle's memory . The vehicle's processor converts the initial vehicle path point sequence into an intermediate vehicle path point sequence in a coordinate system with the starting point of the vehicle path as the origin, The vehicle's processor determines the inclination of each point in the intermediate vehicle path point sequence, The vehicle's processor converts the intermediate vehicle path point sequence into a target vehicle path point sequence in a dead reckoning DR coordinate system based on the inclination of each point. Methods that include...
The vehicle's processor converts the initial vehicle path point sequence into an intermediate vehicle path point sequence in a coordinate system with the starting point of the vehicle path as the origin. Projecting the aforementioned initial vehicle path point sequence yields the first vehicle path point sequence. Translating the first sequence of vehicle path points yields a second sequence of vehicle path points in a coordinate system with the starting point of the vehicle path as the origin, and the second sequence of vehicle path points is made the intermediate sequence of vehicle path points. The method according to claim 1, including the method described in claim 1.
The coordinate system to which the first vehicle path point sequence belongs is such that the horizontal coordinate is the distance from the point to the central meridian of the longitude region, and the vertical coordinate is the distance from the point to the equator. The method according to claim 2.
Each point in the intermediate vehicle path sequence includes a yaw angle, and accordingly, before the vehicle's processor determines the inclination of each point in the intermediate vehicle path sequence, To obtain a selected sequence of intermediate vehicle path points, remove points where the difference between the yaw angle of each point in the aforementioned sequence of intermediate vehicle path points and the yaw angle of the starting point of the vehicle path is greater than a predetermined yaw angle. The method according to claim 1, further comprising:
The processor of the vehicle determines the inclination of each point in the intermediate vehicle path point sequence, For each point in the aforementioned intermediate vehicle path point sequence, the inclination of two points adjacent to that point is determined, The determined slope is determined as the slope of the aforementioned point, The method according to claim 1, including the method described in claim 1.
The vehicle's processor converts the intermediate vehicle path point sequence into a target vehicle path point sequence in a dead reckoning DR coordinate system based on the inclination of each point. The inclination of each point in the aforementioned intermediate vehicle path point sequence is to be ordered, Selecting a predetermined number of slopes from an ordered set of slopes according to a predetermined rule, Calculating the average slope of the predetermined number of slopes, Based on the aforementioned average slope, the intermediate vehicle path point sequence is transformed into a target vehicle path point sequence in the DR coordinate system. The method according to claim 1, including the method described in claim 1.
The vehicle's processor converts the intermediate vehicle path point sequence into a target vehicle path point sequence in the DR coordinate system based on the average slope. Based on the aforementioned average slope, the first angle in the coordinate system to which the intermediate vehicle path point sequence belongs is calculated, Based on the first angle and transformation formula, the intermediate vehicle path point sequence is transformed into the target vehicle path point sequence in the DR coordinate system, including, The method according to claim 6.
The aforementioned conversion formula includes the following formula: Here, i is a positive integer, θ is the first angle, (x i 2 , y i 2 ) is the coordinate of a point in the intermediate vehicle path point sequence, and (x i 3 , y i 3 ) is the coordinate of a point in the target vehicle path point sequence. The method according to claim 7.
The vehicle's integrated onboard navigation system can acquire the initial vehicle path point sequence of the vehicle in a geodetic coordinate system. The in-car integrated navigation system determines the latitude, longitude, and yaw angle related to the distance the vehicle travels in a straight line, and Based on the aforementioned latitude and longitude coordinates and yaw angle, an initial sequence of vehicle path points for one group is obtained. The method according to claim 1, including the method described in claim 1.
An acquisition module for obtaining the initial vehicle path point sequence of a vehicle in a geodetic coordinate system, A first transformation module for converting the initial vehicle path point sequence into an intermediate vehicle path point sequence in a coordinate system with the starting point of the vehicle path as the origin, A determination module for determining the inclination of each point in the aforementioned intermediate vehicle path point sequence, The system includes a second transformation module for converting the intermediate vehicle path point sequence into a target vehicle path point sequence in a dead reckoning DR coordinate system based on the inclination of each point. Vehicle route point determination device.
At least one processor, The system comprises a memory connected to at least one of the processors, The memory stores a computer program that can be executed by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor can carry out the method according to any one of claims 1 to 9. vehicle.
When executed by the processor, a computer instruction for carrying out the vehicle route point determination method according to any one of claims 1 to 9 is stored. Computer-readable storage medium.

Description

The embodiments of this application relate to the field of car navigation technology, and more particularly to a vehicle route point determination method, apparatus, vehicle, and storage medium. This application claims priority to a Chinese patent application filed with the China National Intellectual Property Administration on June 30, 2023, application number 202310803029.2, the entirety of which is incorporated into this application by reference. Dead reckoning (DR) is a method for estimating an object's next position by measuring its distance and direction of movement, given that its current position at time is known. DR calibration is the process of minimizing the error between the position estimated by DR and the vehicle's actual motion position by optimizing the internal parameters of the algorithm to achieve optimal performance. The key to DR calibration is mapping the measured vehicle's actual motion position to the DR coordinate system. Currently, the mainstream methods for achieving this are using an Automated Dynamic Motion Analyzer (ADMA) or distance measuring equipment. These methods have drawbacks, including high cost, complex measurement conversion processes, and low efficiency. Therefore, how to easily obtain the vehicle's coordinates in the DR coordinate system is a matter of related technology. To more clearly explain the technical concept in the embodiments of this application, the drawings that need to be used in the description of the embodiments are briefly described below. The drawings in the following description are only a few embodiments of this application, and it will be obvious to those skilled in the art that other drawings can be obtained based on these drawings without any creative work. This is a flowchart of the vehicle route point determination method according to Embodiment 1 of the present invention. This is a schematic diagram of a vehicle route in a geodetic coordinate system according to an embodiment of the present invention. This is a flowchart of the vehicle route point determination method according to Embodiment 2 of the present invention. This is a schematic diagram of the vehicle route according to an embodiment of the present invention. This is a schematic diagram of another vehicle route according to an embodiment of the present invention. This is a flowchart of the vehicle route point determination method according to Embodiment 3 of the present application. This is a schematic diagram of a vehicle path in the DR coordinate system according to an embodiment of the present application. This is a schematic diagram of the structure of a vehicle route point determination device according to Embodiment 4 of the present invention. This is a schematic diagram of the structure of a vehicle according to Embodiment 5 of the present invention. To enable a better understanding of the present invention by those skilled in the art, the technical invention in the embodiments of this invention will be described clearly and completely below, with reference to the drawings of the embodiments. However, it is clear that the embodiments described represent only a portion of the embodiments of this invention, not all of them. All other embodiments obtained by those skilled in the art without creative work based on the embodiments of this invention must fall within the scope of this invention. It should be understood that each step described in the method embodiments of this invention can be performed in a different order and/or in parallel. Furthermore, the method embodiments may include additional steps and/or omit the execution of the indicated steps. The scope of this invention is not limited in this respect. As used herein, the term “including” and its variations are open-ended, equivalent to “including but not limited to.” The term “based on” means “based on at least part of.” The term “one embodiment” refers to “at least one embodiment,” the term “another embodiment” refers to “at least one other embodiment,” and the term “several embodiments” refers to “at least several embodiments.” Definitions of other terms are given below. Furthermore, terms such as "First," "Second," etc., in the specification, claims, and drawings of this application are intended to distinguish similar subjects and not to describe a specific order or priority. It should be understood that the data used herein is interchangeable as appropriate, so that the embodiments of this application described herein may be carried out in an order other than that illustrated or described herein. Also, the terms "includes," "has," and any variations thereof are intended to have non-exclusive implications. For example, a process, method, system, product, or device including a series of steps or units is not necessarily limited to the steps or units explicitly mentioned, and may include other steps or units not explicitly mentioned or specific to those processes, methods, products, or devices. Furthermore, the modif