CN103047987B - Vehicle position acquisition method and device - Google Patents

Abstract

The inventive embodiment provides a vehicle position acquisition method and device. The method comprises the steps of: constructing a road coordinate system according to the start point of a target vehicle on the center line of a target road; determining the start target road parameters corresponding to the start point in the road coordinate system, the driving arc length of the target vehicle on the center line of the target road as well as the line type of the target road; and calculating the target position of the target vehicle on the center line of the target road according to the line type of the target road and the start target road parameters. The method and the device provided by the invention can rapidly and effectively acquire the vehicle position.

Description

Vehicle position acquisition method and device

Technical field

The present invention relates to vehicle movement technical field, relate to a kind of vehicle position acquisition method and device in particular.

Background technology

Along with vehicle fleet size constantly increases, the security operated between the vehicle on road becomes important gradually, and active safety and intelligent driving technology become the emerging technology of automobile industry, and therefore intelligent driving system becomes the main development direction of Shape Of Things To Come.

The research of Vehicular intelligent control loop is normally carried out in simulated environment, namely traffic environment model is built, analogue simulation traffic route, vehicular traffic and radar signal and sensor, thus realize the research and development to intelligent driving system middle controller etc. by the traffic environment that analogue simulation vehicular traffic runs.

In analogue simulation process, usually need the relative position of vehicular traffic on traffic route obtaining motion, thus realize under different traffic environment according to this relative position, to vehicle lane-changing, the simulation study of moving with car etc.

And in vehicle actual moving process, when traffic hazard occurring and carrying out traffic prospecting etc., usually also need to obtain the relative position of vehicular traffic on traffic route.

Therefore how the technical matters in the urgent need to address that vehicle location becomes those skilled in the art is obtained fast and effectively.

Summary of the invention

In view of this, the invention provides a kind of vehicle position acquisition method and device, achieve the acquisition effectively and rapidly to the vehicular traffic position in motion.

For achieving the above object, the invention provides following technical scheme:

A kind of vehicle position acquisition method, comprising:

According to the starting point of target vehicle on target road center line, set up path coordinate system;

Determine traveling arc length on described target road center line of the initial target road parameters that described starting point is corresponding in described path coordinate system and described target vehicle and described target road line style;

According to described target road line style and described initial target road parameters, calculate the target location of described target vehicle on described target road center line.

Preferably, describedly determine that traveling arc length on described target road center line of the initial target road parameters that described starting point is corresponding in described path coordinate system and described target vehicle and described target road line style comprise:

Determine the traveling arc length of described target vehicle on described target road center line and target road hop count corresponding to described traveling arc length;

According to described target road hop count, search target road line style corresponding to default described target road hop count and initial target road parameters.

Preferably, describedly determine that traveling arc length on described target road center line of the initial target road parameters that described starting point is corresponding in described path coordinate system and described target vehicle and described target road line style comprise:

According to target road line style and the target road hop count of the described target road preset, search the initial target road parameters of default described target road;

According to the kinematic parameter of described target vehicle, calculate the final position of described target vehicle in described path coordinate system;

According to the reference position of described target vehicle, described final position and described initial target road parameters, according to different target road line style, calculate the traveling arc length of described target vehicle on described target road center line.

Preferably, described according to described target road line style and described initial target road parameters, calculate the target location of described target vehicle on described target road center line and comprise:

When described target road line style is straight line, calculate the target location of target vehicle on described target road center line according to straight-line target location formula, described straight-line target location formula is:

x _p=s·cosψ ₀+x ₀；

y _p=s·sinψ ₀+y ₀；

Wherein, (x _p, y _p) represent target location coordinate, (x ₀, y ₀) representing starting position coordinates, s is for exercising arc length, and described initial target road parameters comprises starting point position angle ψ ₀;

When described target road line style is circular arc line, according to the target location of circular arc line target location formulae discovery target vehicle on described target road center line, described circular arc line target location formula is:

$x_P=x_{P_0}+\frac{\sin ({\mathrm{\Ψ}}_0+\frac{s}{{\mathrm{\ρ}}_0})}{{\mathrm{\ρ}}_0};$

$y_P=y_{P_0}-\frac{\sin ({\mathrm{\Ψ}}_0+\frac{s}{{\mathrm{\ρ}}_0})}{{\mathrm{\ρ}}_0};$

Wherein, (x _p, y _p) represent target location coordinate, (x ₀, y ₀) representing starting position coordinates, s is for exercising arc length, and described initial target road parameters comprises starting point position angle ψ ₀with circular arc curvature ρ ₀;

When described target road line style is clothoid, according to the target location of clothoid target location formulae discovery target vehicle on described target road center line, described clothoid target location formula is

$x_p=S-\frac{S^5}{40{\left({\mathrm{RL}}_s\right)}^2};$

$y_p=\frac{S^3}{6R{L}_S}-\frac{S^7}{336{\left({\mathrm{RL}}_S\right)}^3};$

Wherein, (x _p, y _p) representing target location, s is for exercising arc length, and described initial target road parameters comprises target road length L _s, radius of curvature R.

Preferably, the described initial point position according to described target vehicle, described final position and described initial target road parameters, according to different target road line style, calculate the traveling arc length of described target vehicle on described target road center line and comprise:

When described target road line style is straight line, calculate the target location of target vehicle on described target road center line according to straight-line travelling arc length formula, described straight-line travelling arc length formula is:

s=(x _v-x ₀)·cosψ+(y _v-y ₀)·sinψ；

Wherein, S is for exercising arc length, (x _v, y _v) represent final position coordinate, (x ₀, y ₀) representing starting position coordinates, described initial target road parameters comprises starting point position angle ψ ₀;

When described target road line style is circular arc line, travels arc length formula calculate the target location of target vehicle on described target road center line according to circular arc line, described circular arc line travels arc length formula and is:

$s=\frac{(\arctan \frac{y_v-y_0}{x_v-x_0}-\frac{\mathrm{\π}}{2})\mathrm{mod}\left(2\mathrm{\π}\right)-{\mathrm{\Ψ}}_0}{{\mathrm{\ρ}}_0};$

Wherein, S is for exercising arc length, (x _v, y _v) represent final position coordinate, (x ₀, y ₀) representing starting position coordinates, described initial target road parameters comprises starting point curvature ρ ₀;

When described target road line style is clothoid, travels arc length computing formula calculate the target location of target vehicle on described target road center line by iterative algorithm according to clothoid, described clothoid travels arc length formula and is:

$S=\min \left(\sqrt{{(x_v-x_p^{\′})}^2+{(y_v-{y^{\′}}_p)}^2}\right);$

Wherein, $x_p^{\′}=S^{\′}-\frac{S^{\′5}}{40{\left({\mathrm{RL}}_s\right)}^2},$ $y_p^{\′}=\frac{S^{\′3}}{6R{L}_S}-\frac{S^{\′7}}{336{\left({\mathrm{RL}}_S\right)}^3};$

Described S is for travelling arc length, and S' is any arc length, (x ' _p, y ' _p) representing the position coordinates of any point on clothoid, described initial target road parameters comprises target road length L _s, radius of curvature R.

A kind of vehicle location acquisition device, comprising:

Set up module, for according to the starting point of target vehicle on target road center line, set up path coordinate system;

Determination module, for determining traveling arc length on described target road center line of the initial target road parameters that described starting point is corresponding in described path coordinate system and described target vehicle and described target road line style;

Position computation module, for according to described target road line style and described initial target road parameters, calculates the target location of described target vehicle on described target road center line.

Preferably, described determination module comprises:

First determination module, for determining the traveling arc length of described target vehicle on described target road center line and target road hop count corresponding to described traveling arc length;

First searches module, for according to described target road hop count, searches target road line style corresponding to default described target road hop count and initial target road parameters.

Preferably, described determination module comprises:

Second searches module, according to target road line style and the target road hop count of the described target road preset, searches the initial target road parameters of default described target road;

First computing module, for the reference position according to described target vehicle, described final position and described initial target road parameters, according to different target road line style, calculates the traveling arc length of described target vehicle on described target road center line.

Preferably, described position computation module comprises:

Linear position module, for when described target road line style is straight line, calculate the target location of target vehicle on described target road center line according to straight-line target location formula, described straight-line target location formula is:

x _p=s·cosψ ₀+x ₀；

y _p=s·sinψ ₀+y ₀；

Wherein, (x _p, y _p) represent target location coordinate, (x ₀, y ₀) representing starting position coordinates, s is for exercising arc length, and described initial target road parameters comprises starting point position angle ψ ₀;

Circular arc line position computation module, for when described target road line style is circular arc line, according to the target location of circular arc line target location formulae discovery target vehicle on described target road center line, described circular arc line target location formula is:

$x_P=x_{P_0}+\frac{\sin ({\mathrm{\Ψ}}_0+\frac{s}{{\mathrm{\ρ}}_0})}{{\mathrm{\ρ}}_0};$

$y_P=y_{P_0}-\frac{\sin ({\mathrm{\Ψ}}_0+\frac{s}{{\mathrm{\ρ}}_0})}{{\mathrm{\ρ}}_0};$

Wherein, (x _p, y _p) represent target location coordinate, (x ₀, y ₀) representing starting position coordinates, s is for exercising arc length, and described initial target road parameters comprises starting point position angle ψ ₀with circular arc curvature ρ ₀;

Clothoid position computation module, for when described target road line style is clothoid, according to the target location of clothoid target location formulae discovery target vehicle on described target road center line, described clothoid target location formula is

$x_p=S-\frac{S^5}{40{\left({\mathrm{RL}}_s\right)}^2};$

$y_p=\frac{S^3}{6R{L}_S}-\frac{S^7}{336{\left({\mathrm{RL}}_S\right)}^3};$

Wherein, (x _p, y _p) representing target location, s is for exercising arc length, and described initial target road parameters comprises target road length L _s, radius of curvature R.

Preferably, described second computing module comprises:

Straight line arc length computing module, for when described target road line style is straight line, calculate the target location of target vehicle on described target road center line according to straight-line travelling arc length formula, described straight-line travelling arc length formula is:

s=(x _v-x ₀)·cosψ+(y _v-y ₀)·sinψ；

Wherein, S is for exercising arc length, (x _v, y _v) represent final position coordinate, (x ₀, y ₀) representing starting position coordinates, described initial target road parameters comprises starting point position angle ψ ₀;

Circular arc line arc length computing module, for when described target road line style is circular arc line, travels arc length formula calculate the target location of target vehicle on described target road center line according to circular arc line, described circular arc line travels arc length formula and is:

$s=\frac{(\arctan \frac{y_v-y_0}{x_v-x_0}-\frac{\mathrm{\π}}{2})\mathrm{mod}\left(2\mathrm{\π}\right)-{\mathrm{\Ψ}}_0}{{\mathrm{\ρ}}_0};$

Wherein, S is for exercising arc length, (x _v, y _v) represent final position coordinate, (x ₀, y ₀) representing starting position coordinates, described initial target road parameters comprises starting point curvature ρ ₀;

Clothoid arc length computing module, for when described target road line style is clothoid, travel arc length computing formula according to clothoid and calculate the target location of target vehicle on described target road center line by iterative algorithm, described clothoid travels arc length formula and is:

$S=\min \left(\sqrt{{(x_v-x_p^{\′})}^2+{(y_v-{y^{\′}}_p)}^2}\right);$

Wherein, $x_p^{\′}=S^{\′}-\frac{S^{\′5}}{40{\left({\mathrm{RL}}_s\right)}^2},$ $y_p^{\′}=\frac{S^{\′3}}{6R{L}_S}-\frac{S^{\′7}}{336{\left({\mathrm{RL}}_S\right)}^3};$

Described S is for travelling arc length, and S' is any arc length, (x ' _p, y ' _p) representing the position coordinates of any point on clothoid, described initial target road parameters comprises target road length L _s, radius of curvature R

Known via above-mentioned technical scheme, compared with prior art, the invention provides a kind of vehicle position acquisition method and device, by according to the reference position of target vehicle on target road center line, set up path coordinate system, and then determine traveling arc length on described target road center line of the initial target road parameters that described starting point is corresponding in described path coordinate system and described target vehicle and described target road line style; Thus according to described target road line style and described initial target road parameters, the target location of described target vehicle on described target road center line can be calculated, because vehicle any position in the process of moving all can calculate, thus vehicle location can be got fast and effectively, can according to the realization of this vehicle location to application such as the simulation study of target vehicle or actual prospectings.

Accompanying drawing explanation

In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments of the invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to the accompanying drawing provided.

Fig. 1 is the process flow diagram of a kind of vehicle position acquisition method embodiment 1 of the present invention;

The path coordinate system schematic diagram that Fig. 2 is target road line style when being straight line;

The path coordinate system schematic diagram that Fig. 3 is target road line style when being circular arc line;

The path coordinate system schematic diagram that Fig. 4 is target road line style when being clothoid;

Fig. 5 is the process flow diagram of a kind of vehicle position acquisition method embodiment 2 of the present invention;

Fig. 6 is the process flow diagram of a kind of vehicle position acquisition method embodiment 3 of the present invention;

Fig. 7 is the structural representation of a kind of vehicle location acquisition device of the present invention embodiment 1;

Fig. 8 is the structural representation of a kind of vehicle location acquisition device of the present invention embodiment 2;

Fig. 9 is the structural representation of a kind of vehicle location acquisition device of the present invention embodiment 3;

Figure 10 is the structural representation of the second computing module in a kind of vehicle location acquisition device of the present invention embodiment 3.

Embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.

The embodiment of the invention discloses a kind of vehicle position acquisition method and device, by according to the reference position of target vehicle on target road center line, set up path coordinate system, and then determine traveling arc length on described target road center line of the initial target road parameters that described starting point is corresponding in described path coordinate system and described target vehicle and described target road line style; Thus according to described target road line style and described initial target road parameters, the target location of described target vehicle on described target road center line can be calculated, because vehicle any position in the process of moving all can calculate, thus vehicle location can be got fast and effectively, can according to the realization of this vehicle location to application such as the simulation study of target vehicle or actual prospectings.

With reference to figure 1, show the process flow diagram of a kind of vehicle position acquisition method embodiment 1 of the present invention, the method can comprise following step:

Step 101: according to the starting point of target vehicle on target road center line, set up path coordinate system.

This target road refers to the traffic route that target vehicle runs.In traffic flow model, target vehicle that is to say tested sample, target road and tested traffic route, and tested sample and tested traffic route all can represent with data mode.

In actual applications, traffic route divides by section, and every section of road is all to there being respective road line style, and this target track section that is to say and refers to a certain section of traffic route.Because traffic route has certain width, in the embodiment of the present invention, namely this starting point refers to the relative starting point be positioned on target road center line.This starting point is known, and in traffic environment model, this starting point can be set to the starting point of this target road place road segment segment.

According to the starting point that this is known, set up path coordinate system, can with described starting point for coordinate origin, or any point of relatively described starting point known distance is coordinate origin.After setting up path coordinate system, thus the coordinate that this starting point is corresponding can be determined, i.e. the reference position of target vehicle.This path coordinate system can be rectangular coordinate system.

After path coordinate system determines, the road of the not synteny of different section, available mathematic(al) representation represents, such as straight line line style road, can represent with equation of line.

Step 102: determine traveling arc length on described target road center line of the initial target road parameters that described starting point is corresponding in described path coordinate system and described target vehicle and described target road line style.

Existing road line style generally includes straight line, circular arc line, transient curve three kinds, this transient curve refers to the line style being transitioned into the traffic route between circular arc road from linear road, at linear road and circular arc line road tie point, if circular arc line curvature is excessive, then needs, transient curve type road is set and connects.This transient curve can comprise clothoid, cubic spline curve, twisted-pair cable, is introduced in the embodiment of the present invention with clothoid.

This initial target road parameters can comprise starting point position angle, starting point curvature or radius-of-curvature etc., and namely this starting point position angle refers to the position angle of target road in described starting point; Equally, starting point curvature namely refer to target road line style be circular arc line or transient curve time target road starting point curvature, the radius-of-curvature of this transient curve when namely radius-of-curvature refers to that the line style of target road is transient curve.

In the embodiment of the present invention, travelling arc length is not refer to the actual travel distance of target vehicle, but the length of target road center line corresponding to actual travel distance.Namely the embodiment of the present invention is obtain the target location of target vehicle in the road on heart line, and therefore this source location might not be the true location point of target vehicle, but the relative position point that true location point is corresponding on target road center line.The distance of true location point and this source location, also namely target vehicle, apart from the vertical range of road axis, namely refers to the Strategic Lateral Offset of vehicle.

The determination of target road line style, initial target road parameters and enforcement arc length can have various ways in different applications, and such as, in traffic environment model, enforcement arc length or target road line style can preset.In the road prospecting of reality, road line style, enforcement arc length etc. can be known, and then can determine the target location on the line of the heart in the road of target vehicle.

Concrete determination mode, can be introduced in embodiment below in detail.

Step 103: according to described target road line style and described initial target road parameters, calculates the target location of described target vehicle on described target road center line.

Because synteny target road can not represent with mathematic(al) representation, therefore can determine the computing formula of target location according to the mathematic(al) representation of target road, thus the target location of any point of target vehicle in the process of moving in the road on heart line can be calculated.

The target location account form difference that different road line style is corresponding, therefore the operation of step 103 can comprise:

When described target road line style is straight line, calculate the target location of target vehicle on described target road center line according to straight-line target location formula, described straight-line target location formula is:

x _p=s·cosψ ₀+x ₀；

y _p=s·sinψ ₀+y ₀；

Wherein, (x _p, y _p) represent target location coordinate, (x ₀, y ₀) representing starting position coordinates, s is for exercising arc length, and described initial target road parameters comprises starting point position angle ψ ₀.Therefore the enforcement arc length of the reference position of known starting point in path coordinate system, target vehicle and starting point position angle, can calculate target location.

This straight-line target location formula can preset, and can certainly generate at vehicle location acquisition process.As shown in Figure 2, when to show target road line style be linear pattern, the schematic diagram of target road in path coordinate system, this path coordinate is a rectangular coordinate system, P ₀(x ₀, y ₀) for vehicle travels the starting point of starting point or this section of target road, V point is the true location point in the process of moving of target vehicle.ψ ₀refer to the target road position angle of starting point, that is to say the position angle of whole section of target road.The present invention asks P point position.This straight-line target location formula generative process can comprise:

Composition graphs 2, this target road expression formula is a straight-line equation: tan ψ ₀x-y+y ₀-tan ψ ₀x ₀=0.

Due to P point and P ₀all be positioned on this straight line, P ₀length to P point is enforcement arc length, therefore according to this straight-line equation, can obtain above-mentioned straight-line target location formula.

When described target road line style is circular arc line, according to the target location of circular arc line target location formulae discovery target vehicle on described target road center line, described circular arc line target location formula is:

$x_P=x_0+\frac{\sin ({\mathrm{\Ψ}}_0+\frac{s}{{\mathrm{\ρ}}_0})}{{\mathrm{\ρ}}_0};$

$y_P=y_0-\frac{\sin ({\mathrm{\Ψ}}_0+\frac{s}{{\mathrm{\ρ}}_0})}{{\mathrm{\ρ}}_0};$

Wherein, (x _p, y _p) represent target location coordinate, (x ₀, y ₀) representing starting position coordinates, s is for exercising arc length, and described initial target road parameters comprises starting point position angle ψ ₀with circular arc curvature ρ ₀.

This circular arc line target location can preset, and also can generate in vehicle location acquisition process.

As shown in Figure 3, when to show target road be circular arc line style, the schematic diagram of target road in path coordinate system.Wherein, P ₀(x ₀, y ₀) be starting point, P point is source location, and V point is vehicle true location point, and C point is the home position of this circular arc, according to the relation on circular arc line between 2, can obtain above-mentioned circular arc line target location computing formula.This circular arc line target location can preset, and also can generate in vehicle location acquisition process.

At known starting point position angle ψ ₀with circular arc curvature ρ ₀and the coordinate of reference position, can target location coordinate be obtained, thus the target location of vehicle in the road on heart line can be determined.

It should be noted that, the figure in Fig. 2 and Fig. 3 in path coordinate system can represent the schematic diagram of road axis.

In the embodiment of the present invention, this transient curve is specially clothoid, when described target road line style is clothoid, according to the target location of clothoid target location formulae discovery target vehicle on described target road center line, described clothoid target location formula is:

$x_p=S-\frac{S^5}{40{\left({\mathrm{RL}}_s\right)}^2};$

$y_p=\frac{S^3}{6R{L}_S}-\frac{S^7}{336{\left({\mathrm{RL}}_S\right)}^3};$

Wherein, (x _p, y _p) representing target location coordinate, s is for exercising arc length, and described initial target road parameters comprises target road length L _s, radius of curvature R.

This clothoid target location computing formula can preset, and also can generate in vehicle location acquisition process.As Fig. 4, show when target road is convolution line style, the schematic diagram of target road in path coordinate system.

As follows in this clothoid target location computing formula generative process:

Any point P(x, y on this clothoid) place:

dx=ds·sinψ _x;

dy=ds·cosψ _x;

And in clothoid, there is following relation:

${\mathrm{\ρ}}_x=\frac{d{\mathrm{\ψ}}_x}{\mathrm{ds}};$

$\frac{s}{{\mathrm{\ρ}}_x}=\frac{L_s}{{\mathrm{\ρ}}_s}=L_{s}R;$

Wherein, ρ _xfor the curvature at any point P place, L _sfor the total length of this section of road, R is radius-of-curvature, ρ _sfor being clothoid mean curvature.

Therefore, in conjunction with above-mentioned relation formula, can draw and travel arc length s and curvature ρ _xrelational expression:

${\mathrm{\β}}_x=\underset{0}{\overset{s}{\∫}}\frac{\mathrm{sds}}{2L_{s}R}=\frac{s^2}{2L_{S}R}.$

By by sin β _x, cos β _xby Taylor Taylor series expansion, get front two formula that can obtain any point P point coordinate, also namely above-mentioned clothoid target location formula.

Therefore, the traveling arc length of known target vehicle, can obtain the target location in target vehicle driving process.

In the present embodiment, by setting up path coordinate system, and by determining the traveling arc length of target vehicle on target road center line and this target road line style, according to different target road line styles, after determining initial target road parameters, the target location of target vehicle on target road center line can be calculated, usual the present embodiment scheme, vehicle any position in the process of moving all can calculate, thus can be quick, effectively get vehicle location, can according to the realization of this vehicle location to application such as the simulation study of target vehicle or actual prospectings.

With reference to figure 5, show the process flow diagram of a kind of vehicle position acquisition method embodiment 2 of the present invention, the method can comprise following step:

Step 501: according to the starting point of target vehicle on target road center line, set up path coordinate system.

Wherein, as a kind of special circumstances, this starting point can be the starting point of this section of target road.

Step 502: determine the traveling arc length of described target vehicle on described target road center line and target road hop count corresponding to described traveling arc length.

In the present embodiment, this traveling arc length is known, when can realize different traveling under arc length by the present embodiment, and the acquisition of target vehicle target location, thus achieve the simulation study to target vehicle.

When travelling arc length and being known, this target road hop count corresponding to traveling arc length corresponding can be determined.Link length due to different section is different, thus according to traveling arc length within the scope of the link length of which section, then can determine the target of this section of road corresponding to this traveling arc length hop count reciprocal.

Step 503: according to described target road hop count, searches target road line style corresponding to default described target road hop count and initial target road parameters.

In the present embodiment, in advance for the road of different section is provided with road type and road parameters, road type comprises road line style, road parameters is different according to different road line styles, can comprise the mean curvature etc. of the length of this section of road and width, this section of road start position, starting point position angle, starting point curvature, final position, home orientation angle, terminal curvature, this section of road.

Thus after finding out target road line style corresponding to this section of target road hop count, initial target road parameters can be determined.When target road line style is linear pattern, can draws according to the road parameters pre-set and can comprise the initial target road parameters that this target vehicle reference position is corresponding: starting point position angle.

When target road line style is circular arc line, then this initial target road parameters can comprise: circular arc curvature, starting point position angle.

When target road line style is clothoid, initial target road parameters can comprise: target road length, radius-of-curvature.

Step 504: according to described target road line style and described initial target road parameters, calculates the target location of described target vehicle on described target road center line.

Specifically initial target road parameters and starting position coordinates can be brought into target location formula corresponding to different target road line style, thus the target location of this target vehicle on target road center line can be calculated.

Target location formula corresponding to different road line style see described in above-described embodiment 1 step 103, can not repeat them here.

In the present embodiment, by the enforcement arc length of known target vehicle, thus corresponding can determine the road line style of the target road at target vehicle place, and then according to different road line style, this traveling arc length and reference position, namely the target location of target vehicle can be calculated, because on the vehicle line of the heart in the road in the process of moving, arbitrary relative position all can calculate, thus can be quick, effectively get vehicle location, and by different target location formula can further quick obtaining to vehicle location, thus can according to the realization of this vehicle location to application such as the simulation study of target vehicle or actual prospectings.

With reference to figure 6, show the process flow diagram of a kind of vehicle position acquisition method embodiment 3 of the present invention, the method can comprise following step:

Step 601: according to the starting point of target vehicle on target road center line, set up path coordinate system.

In the present embodiment, this path coordinate system is specially rectangular coordinate system.

Step 602: according to target road line style and the target road hop count of the described target road preset, search the initial target road parameters of default described target road.

Step 603: according to the kinematic parameter of described target vehicle, calculates the final position of described target vehicle in described path coordinate system.

In the embodiment of the present invention, target vehicle final position refers to the physical location in target vehicle driving process.Because target road has certain width, this final position is not necessarily positioned on road axis, and therefore namely the present embodiment is calculate the position on this road axis vertical of this final position.

This final position can draw according to target vehicle beginning parameter transform model, and this kinematic parameter comprises car speed, acceleration, angular velocity, time etc.

Step 604: according to the reference position of described target vehicle, described final position and described initial target road parameters, according to different target road line style, calculates the traveling arc length of described target vehicle on described target road center line.

After final position is determined, the enforcement arc length of target vehicle can be calculated.The account form of different road line style is different, and therefore step 604 can comprise:

When described target road line style is straight line, calculate the enforcement arc length of target vehicle on described target road center line according to straight-line travelling arc length formula, described straight-line travelling arc length formula is:

s=(x _v-x ₀)·cosψ ₀+(y _v-y ₀)·sinψ ₀；

Wherein, S represents enforcement arc length, (x _v, y _v) represent final position coordinate, (x ₀, y ₀) representing starting position coordinates, described initial target road parameters comprises starting point position angle ψ ₀.

This straight line arc length formula can preset, and also can generate in vehicle location acquisition process, the target road schematic diagram still shown in composition graphs 2, and the straight line expression formula of this target road is: tan ψ ₀x-y+y ₀-tan ψ ₀x ₀=0.

V point represents the Strategic Lateral Offset d of target vehicle to road axis to the distance of P point,

$d=\frac{|\tan {\mathrm{\ψ}}_0\·x_v-y_v+y_0-x_0|}{\sqrt{1+{\left(\tan {\mathrm{\ψ}}_0\right)}^2}}=(x_v-x_0)\·\sin {\mathrm{\ψ}}_0-(y_v-y_0)\·\cos {\mathrm{\ψ}}_0.$

Travel arc length S and be P ₀point, to P point distance, can draw this straight-line travelling arc length formula according to Pythagorean theorem:

$s=\sqrt{{\left|p{p}_0\right|}^2-d^2}=(x_v-x_0)\·\cos {\mathrm{\ψ}}_0+(y_v-y_0)\·\sin {\mathrm{\ψ}}_0.$

Therefore known starting position coordinates, position angle ψ ₀, traveling arc length can be calculated.

When described target road line style is circular arc line, travels arc length formula calculate the target location of target vehicle on described target road center line according to circular arc line, described circular arc line travels arc length formula and is:

$s=\frac{(\arctan \frac{y_v-y_0}{x_v-x_0}-\frac{\mathrm{\π}}{2})\mathrm{mod}\left(2\mathrm{\π}\right)-{\mathrm{\Ψ}}_0}{{\mathrm{\ρ}}_0};$

Wherein, S is for exercising arc length, (x _v, y _v) represent final position coordinate, (x ₀, y ₀) representing starting position coordinates, described initial target road parameters comprises starting point curvature ρ ₀.

This circular arc line travels arc length formula and can preset, and also can generate in vehicle location acquisition process, the target road schematic diagram still shown in composition graphs 3, the position angle Ψ at P point place _pcomputing formula be:

${\mathrm{\Ψ}}_P=(\arctan \frac{y_v-y_0}{x_v-x_0}-\frac{\mathrm{\π}}{2})\mathrm{mod}\left(2\mathrm{\π}\right).$

Wherein, mod is complementation.

The traveling arc length S computing formula at P point place is:

$s=\frac{{\mathrm{\Ψ}}_P-{\mathrm{\Ψ}}_0}{{\mathrm{\ρ}}_0}.$

Therefore the enforcement arc length formula of circular arc line can be drawn in conjunction with above-mentioned position angle and the computing formula travelling arc length.

When described target road line style is clothoid, travels arc length computing formula calculate the target location of target vehicle on described target road center line by iterative algorithm according to clothoid, described clothoid travels arc length formula and is:

$S=\min \left(\sqrt{{(x_v-x_p^{\′})}^2+{(y_v-{y^{\′}}_p)}^2}\right);$

Wherein, $x_p^{\′}=S^{\′}-\frac{S^{\′5}}{40{\left({\mathrm{RL}}_s\right)}^2},$ $y_p^{\′}=\frac{S^{\′3}}{6R{L}_S}-\frac{S^{\′7}}{336{\left({\mathrm{RL}}_S\right)}^3};$

Described S is for travelling arc length, and S' is any arc length, (x ' _p, y ' _p) representing the position coordinates of any point on clothoid, described initial target road parameters comprises target road length L _s, radius of curvature R.

Step 605: according to described target road line style and described initial target road parameters, calculates the target location of described target vehicle on described target road center line.

This step see in above-described embodiment 1 described in step 103, can not repeat them here.

In the present embodiment, according to the kinematics parameters of target vehicle, target vehicle physical location in the process of moving dynamically can be determined, i.e. final position.According to final position and reference position, in different road line style, the traveling arc length of target vehicle can be calculated, thus according to exercising arc length, the target location of the target vehicle in different road line style can be calculated, because on the vehicle line of the heart in the road in the process of moving, arbitrary relative position all can calculate, thus vehicle location can be got fast and effectively, thus can realize application such as the simulation study of target vehicle or actual prospectings according to this vehicle location.

Corresponding with a kind of vehicle position acquisition method of the invention described above, with reference to figure 7, present invention also offers a kind of vehicle location acquisition device embodiment 1, described device can comprise:

Set up module 701, for according to the starting point of target vehicle on target road center line, set up path coordinate system.

Determination module 702, for determining traveling arc length on described target road center line of the initial target road parameters that described starting point is corresponding in described path coordinate system and described target vehicle and described target road line style.

Position computation module 703, for according to described target road line style and described initial target road parameters, calculates the target location of described target vehicle on described target road center line.

Wherein, this position computation module 703 can comprise:

Linear position module 7031, for when described target road line style is straight line, calculate the target location of target vehicle on described target road center line according to straight-line target location formula, described straight-line target location formula is:

x _p=s·cosψ+x ₀；

y _p=s·sinψ+y ₀；

Wherein, (x _p, y _p) represent target location, (x ₀, y ₀) representing reference position, s is for exercising arc length, and described initial target road parameters comprises starting point position angle ψ;

Circular arc line position computation module 7032, for when described target road line style is circular arc line, according to the target location of circular arc line target location formulae discovery target vehicle on described target road center line, described circular arc line target location formula is:

$x_P=x_{P_0}+\frac{\sin ({\mathrm{\Ψ}}_0+\frac{s}{{\mathrm{\ρ}}_0})}{{\mathrm{\ρ}}_0};$

$y_P=y_{P_0}-\frac{\sin ({\mathrm{\Ψ}}_0+\frac{s}{{\mathrm{\ρ}}_0})}{{\mathrm{\ρ}}_0};$

Wherein, (x _p, y _p) represent target location, (x ₀, y ₀) representing reference position, s is for exercising arc length, and described initial target road parameters comprises starting point position angle ψ ₀with circular arc curvature ρ ₀;

Clothoid position computation module 7033, for when described target road line style is clothoid, according to the target location of clothoid target location formulae discovery target vehicle on described target road center line, described clothoid target location formula is

$x_p=S-\frac{S^5}{40{\left({\mathrm{RL}}_s\right)}^2};$

$y_p=\frac{S^3}{6R{L}_S}-\frac{S^7}{336{\left({\mathrm{RL}}_S\right)}^3};$

Wherein, (x _p, y _p) representing target location, s is for exercising arc length, and described initial target road parameters comprises target road length L _s, radius of curvature R.

In the present embodiment, by setting up path coordinate system, and by determining the traveling arc length of target vehicle on target road center line and this target road line style, according to different target road line styles, after determining initial target road parameters, the target location of target vehicle on target road center line can be calculated, usual the present embodiment scheme, vehicle any position in the process of moving all can calculate, thus can be quick, effectively get vehicle location, can according to the realization of this vehicle location to application such as the simulation study of target vehicle or actual prospectings.

In actual applications, the vehicle location acquisition device described in the embodiment of the present invention can be applied particularly in traffic environment model.

Corresponding with a kind of vehicle position acquisition method embodiment 2 of the invention described above, with reference to figure 8, present invention also offers a kind of vehicle location acquisition device embodiment 2, this device can comprise:

Set up module 801, for according to the starting point of target vehicle on target road center line, set up path coordinate system.

Determination module 802, for determining traveling arc length on described target road center line of the initial target road parameters that described starting point is corresponding in described path coordinate system and described target vehicle and described target road line style.

Wherein, this determination module 802 comprises:

First determination module 8021, for determining the traveling arc length of described target vehicle on described target road center line and target road hop count corresponding to described traveling arc length;

First searches module 8022, for according to described target road hop count, searches target road line style corresponding to default described target road hop count and initial target road parameters.

Position computation module 803, for according to described target road line style and described initial target road parameters, calculates the target location of described target vehicle on described target road center line.

Wherein, this position computation module 803 can comprise:

Linear position module 8031, for when described target road line style is straight line, calculate the target location of target vehicle on described target road center line according to straight-line target location formula, described straight-line target location formula is:

x _p=s·cosψ ₀+x ₀；

y _p=s·sinψ ₀+y ₀；

Wherein, (x _p, y _p) represent target location, (x ₀, y ₀) representing reference position, s is for exercising arc length, and described initial target road parameters comprises starting point position angle ψ;

Circular arc line position computation module 8032, for when described target road line style is circular arc line, according to the target location of circular arc line target location formulae discovery target vehicle on described target road center line, described circular arc line target location formula is:

$x_P=x_{P_0}+\frac{\sin ({\mathrm{\Ψ}}_0+\frac{s}{{\mathrm{\ρ}}_0})}{{\mathrm{\ρ}}_0};$

$y_P=y_{P_0}-\frac{\sin ({\mathrm{\Ψ}}_0+\frac{s}{{\mathrm{\ρ}}_0})}{{\mathrm{\ρ}}_0};$

Wherein, (x _p, y _p) represent target location, (x ₀, y ₀) representing reference position, s is for exercising arc length, and described initial target road parameters comprises starting point position angle ψ ₀with circular arc curvature ρ ₀;

Clothoid position computation module 8033, for when described target road line style is clothoid, according to the target location of clothoid target location formulae discovery target vehicle on described target road center line, described clothoid target location formula is

$x_p=S-\frac{S^5}{40{\left({\mathrm{RL}}_s\right)}^2};$

$y_p=\frac{S^3}{6R{L}_S}-\frac{S^7}{336{\left({\mathrm{RL}}_S\right)}^3};$

Wherein, (x _p, y _p) representing target location, s is for exercising arc length, and described initial target road parameters comprises target road length L _s, radius of curvature R.

In the present embodiment, by the enforcement arc length of known target vehicle, thus corresponding can determine the road line style of the target road at target vehicle place, and then according to different road line style, this traveling arc length and reference position, namely the target location of target vehicle can be calculated, because on the vehicle line of the heart in the road in the process of moving, arbitrary relative position all can calculate, thus can be quick, effectively get vehicle location, and by different target location formula can further quick obtaining to vehicle location, thus can according to the realization of this vehicle location to application such as the simulation study of target vehicle or actual prospectings.

Corresponding with a kind of vehicle position acquisition method embodiment 3 of the invention described above, with reference to figure 9, present invention also offers a kind of vehicle location acquisition device embodiment 3, this device can comprise:

Set up module 901, for according to the starting point of target vehicle on target road center line, set up path coordinate system.

Determination module 902, for determining traveling arc length on described target road center line of the initial target road parameters that described starting point is corresponding in described path coordinate system and described target vehicle and described target road line style.

Wherein, this determination module 902 can comprise:

Second searches module 9021, for according to the target road line style of described target road preset and target road hop count, searches the initial target road parameters of default described target road;

First computing module 9022, for the reference position according to described target vehicle, described final position and described initial target road parameters, according to different target road line style, calculates the traveling arc length of described target vehicle on described target road center line.

Wherein as Figure 10, shown in, this second computing module can comprise:

Straight line arc length computing module 1001, for when described target road line style is straight line, calculate the target location of target vehicle on described target road center line according to straight-line travelling arc length formula, described straight-line travelling arc length formula is:

s=(x _v-x ₀)·cosψ+(y _v-y ₀)·sinψ；

Wherein, S is for exercising arc length, (x _v, y _v) represent final position coordinate, (x ₀, y ₀) representing starting position coordinates, described initial target road parameters comprises starting point position angle ψ ₀;

Circular arc line arc length computing module 1002, for when described target road line style is circular arc line, travels arc length formula calculate the target location of target vehicle on described target road center line according to circular arc line, described circular arc line travels arc length formula and is:

$s=\frac{(\arctan \frac{y_v-y_0}{x_v-x_0}-\frac{\mathrm{\π}}{2})\mathrm{mod}\left(2\mathrm{\π}\right)-{\mathrm{\Ψ}}_0}{{\mathrm{\ρ}}_0};$

Wherein, S is for exercising arc length, (x _v, y _v) represent final position coordinate, (x ₀, y ₀) representing starting position coordinates, described initial target road parameters comprises starting point curvature ρ ₀.

Clothoid arc length computing module 1003, for when described target road line style is clothoid, travel arc length computing formula according to clothoid and calculate the target location of target vehicle on described target road center line by iterative algorithm, described clothoid travels arc length formula and is:

$S=\min \left(\sqrt{{(x_v-x_p^{\′})}^2+{(y_v-{y^{\′}}_p)}^2}\right);$

Wherein, $x_p^{\′}=S^{\′}-\frac{S^{\′5}}{40{\left({\mathrm{RL}}_s\right)}^2},$ $y_p^{\′}=\frac{S^{\′3}}{6R{L}_S}-\frac{S^{\′7}}{336{\left({\mathrm{RL}}_S\right)}^3};$

Described S is for travelling arc length, and S' is any arc length, (x ' _p, y ' _p) representing the position coordinates of any point on clothoid, described initial target road parameters comprises target road length L _s, radius of curvature R.

Position computation module 1003, for according to described target road line style and described initial target road parameters, calculates the target location of described target vehicle on described target road center line.

Wherein, this position computation module 903 can comprise:

Linear position module 9031, for when described target road line style is straight line, calculate the target location of target vehicle on described target road center line according to straight-line target location formula, described straight-line target location formula is:

x _p=s·cosψ ₀+x ₀；

y _p=s·sinψ ₀+y ₀；

Wherein, (x _p, y _p) represent target location, (x ₀, y ₀) representing reference position, s is for exercising arc length, and described initial target road parameters comprises starting point position angle ψ;

Circular arc line position computation module 9032, for when described target road line style is circular arc line, according to the target location of circular arc line target location formulae discovery target vehicle on described target road center line, described circular arc line target location formula is:

$x_P=x_{P_0}+\frac{\sin ({\mathrm{\Ψ}}_0+\frac{s}{{\mathrm{\ρ}}_0})}{{\mathrm{\ρ}}_0};$

$y_P=y_{P_0}-\frac{\sin ({\mathrm{\Ψ}}_0+\frac{s}{{\mathrm{\ρ}}_0})}{{\mathrm{\ρ}}_0};$

Wherein, (x _p, y _p) represent target location, (x ₀, y ₀) representing reference position, s is for exercising arc length, and described initial target road parameters comprises starting point position angle ψ ₀with circular arc curvature ρ ₀;

Clothoid position computation module 9033, for when described target road line style is clothoid, according to the target location of clothoid target location formulae discovery target vehicle on described target road center line, described clothoid target location formula is

$x_p=S-\frac{S^5}{40{\left({\mathrm{RL}}_s\right)}^2};$

$y_p=\frac{S^3}{6R{L}_S}-\frac{S^7}{336{\left({\mathrm{RL}}_S\right)}^3};$

Wherein, (x _p, y _p) representing target location, s is for exercising arc length, and described initial target road parameters comprises target road length L _s, radius of curvature R.

In the present embodiment, according to the kinematics parameters of target vehicle, target vehicle physical location in the process of moving dynamically can be determined, i.e. final position.According to final position and reference position, in different road line style, the traveling arc length of target vehicle can be calculated, thus according to exercising arc length, the target location of the target vehicle in different road line style can be calculated, because on the vehicle line of the heart in the road in the process of moving, arbitrary relative position all can calculate, thus vehicle location can be got fast and effectively, thus can realize application such as the simulation study of target vehicle or actual prospectings according to this vehicle location.

In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.For device disclosed in embodiment, because it corresponds to the method disclosed in Example, so description is fairly simple, relevant part illustrates see method part.

To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.

Claims (8)

1. a vehicle position acquisition method, is characterized in that, comprising:

According to the starting point of target vehicle on target road center line, set up path coordinate system;

Determine traveling arc length on described target road center line of the initial target road parameters that described starting point is corresponding in described path coordinate system and described target vehicle and described target road line style;

According to described target road line style and described initial target road parameters, calculate the target location of described target vehicle on described target road center line;

Wherein, described according to described target road line style and described initial target road parameters, calculate the target location of described target vehicle on described target road center line and comprise:

When described target road line style is straight line, calculate the target location of target vehicle on described target road center line according to straight-line target location formula, described straight-line target location formula is:

x _p＝s·cosψ ₀+x ₀；

y _p＝s·sinψ ₀+y ₀；

Wherein, (x _p, y _p) represent target location coordinate, (x ₀, y ₀) representing starting position coordinates, s is for exercising arc length, and described initial target road parameters comprises starting point position angle ψ ₀;

When described target road line style is circular arc line, according to the target location of circular arc line target location formulae discovery target vehicle on described target road center line, described circular arc line target location formula is:

$x_P=x_{P_0}+\frac{\sin ({\mathrm{\Ψ}}_0+\frac{s}{{\mathrm{\ρ}}_0})}{{\mathrm{\ρ}}_0};$

$y_P=y_{P_0}-\frac{\sin ({\mathrm{\Ψ}}_0+\frac{s}{{\mathrm{\ρ}}_0})}{{\mathrm{\ρ}}_0};$

Wherein, (x _p, y _p) represent target location coordinate, (x ₀, y ₀) representing starting position coordinates, s is for exercising arc length, and described initial target road parameters comprises starting point position angle ψ ₀with circular arc curvature ρ ₀;

When described target road line style is clothoid, according to the target location of clothoid target location formulae discovery target vehicle on described target road center line, described clothoid target location formula is

$x_p=S-\frac{S^5}{40{\left({\mathrm{RL}}_s\right)}^2};$

$y_p=\frac{S^3}{6{\mathrm{RL}}_S}-\frac{S^7}{336{\left({\mathrm{RL}}_S\right)}^3};$

Wherein, (x _p, y _p) representing target location, s is for exercising arc length, and described initial target road parameters comprises target road length L _s, radius of curvature R.

2. method according to claim 1, it is characterized in that, describedly determine that traveling arc length on described target road center line of the initial target road parameters that described starting point is corresponding in described path coordinate system and described target vehicle and described target road line style comprise:

Determine the traveling arc length of described target vehicle on described target road center line and target road hop count corresponding to described traveling arc length;

According to described target road hop count, search target road line style corresponding to default described target road hop count and initial target road parameters.

3. method according to claim 1, it is characterized in that, describedly determine that traveling arc length on described target road center line of the initial target road parameters that described starting point is corresponding in described path coordinate system and described target vehicle and described target road line style comprise:

According to target road line style and the target road hop count of the described target road preset, search the initial target road parameters of default described target road;

According to the kinematic parameter of described target vehicle, calculate the final position of described target vehicle in described path coordinate system;

According to the reference position of described target vehicle, described final position and described initial target road parameters, according to different target road line style, calculate the traveling arc length of described target vehicle on described target road center line.

4. method according to claim 3, it is characterized in that, the described initial point position according to described target vehicle, described final position and described initial target road parameters, according to different target road line style, calculate the traveling arc length of described target vehicle on described target road center line and comprise:

When described target road line style is straight line, calculate the target location of target vehicle on described target road center line according to straight-line travelling arc length formula, described straight-line travelling arc length formula is:

s＝(x _v-x ₀)·cosψ+(y _v-y ₀)·sinψ；

Wherein, S is for exercising arc length, (x _v, y _v) represent final position coordinate, (x ₀, y ₀) representing starting position coordinates, described initial target road parameters comprises starting point position angle ψ ₀;

When described target road line style is circular arc line, travels arc length formula calculate the target location of target vehicle on described target road center line according to circular arc line, described circular arc line travels arc length formula and is:

$s=\frac{(\arctan \frac{y_v-y_0}{x_v-x_0}-\frac{\mathrm{\π}}{2})\mathrm{mod}\left(2\mathrm{\π}\right)-{\mathrm{\Ψ}}_0}{{\mathrm{\ρ}}_0};$

Wherein, S is for exercising arc length, (x _v, y _v) represent final position coordinate, (x ₀, y ₀) representing starting position coordinates, described initial target road parameters comprises starting point curvature ρ ₀;

When described target road line style is clothoid, travels arc length computing formula calculate the target location of target vehicle on described target road center line by iterative algorithm according to clothoid, described clothoid travels arc length formula and is:

$S=\min \left(\sqrt{{(x_v-x_p^{\′})}^2+{(y_v-y_p^{\′})}^2}\right);$

Wherein, $x_p^{\′}=S^{\′}-\frac{S^{\′5}}{40{\left({\mathrm{RL}}_s\right)}^2},y_p^{\′}=\frac{S^{\′3}}{6{\mathrm{RL}}_S}-\frac{S^{\′7}}{336{\left({\mathrm{RL}}_S\right)}^3};$

Described S is for travelling arc length, and S' is any arc length, (x' _p, y' _p) representing the position coordinates of any point on clothoid, described initial target road parameters comprises target road length L _s, radius of curvature R.

5. a vehicle location acquisition device, is characterized in that, comprising:

Set up module, for according to the starting point of target vehicle on target road center line, set up path coordinate system;

Determination module, for determining traveling arc length on described target road center line of the initial target road parameters that described starting point is corresponding in described path coordinate system and described target vehicle and described target road line style;

Position computation module, for according to described target road line style and described initial target road parameters, calculates the target location of described target vehicle on described target road center line;

Wherein, described position computation module comprises:

Linear position module, for when described target road line style is straight line, calculate the target location of target vehicle on described target road center line according to straight-line target location formula, described straight-line target location formula is:

x _p＝s·cosψ ₀+x ₀；

y _p＝s·sinψ ₀+y ₀；

Wherein, (x _p, y _p) represent target location coordinate, (x ₀, y ₀) representing starting position coordinates, s is for exercising arc length, and described initial target road parameters comprises starting point position angle ψ ₀;

Circular arc line position computation module, for when described target road line style is circular arc line, according to the target location of circular arc line target location formulae discovery target vehicle on described target road center line, described circular arc line target location formula is:

$x_P=x_{P_0}+\frac{\sin ({\mathrm{\Ψ}}_0+\frac{s}{{\mathrm{\ρ}}_0})}{{\mathrm{\ρ}}_0};$

$y_P=y_{P_0}-\frac{\sin ({\mathrm{\Ψ}}_0+\frac{s}{{\mathrm{\ρ}}_0})}{{\mathrm{\ρ}}_0};$

Wherein, (x _p, y _p) represent target location coordinate, (x ₀, y ₀) representing starting position coordinates, s is for exercising arc length, and described initial target road parameters comprises starting point position angle ψ ₀with circular arc curvature ρ ₀;

Clothoid position computation module, for when described target road line style is clothoid, according to the target location of clothoid target location formulae discovery target vehicle on described target road center line, described clothoid target location formula is

$x_p=S-\frac{S^5}{40{\left({\mathrm{RL}}_s\right)}^2};$

$y_p=\frac{S^3}{6{\mathrm{RL}}_S}-\frac{S^7}{336{\left({\mathrm{RL}}_S\right)}^3};$

Wherein, (x _p, y _p) representing target location, s is for exercising arc length, and described initial target road parameters comprises target road length L _s, radius of curvature R.

6. device according to claim 5, is characterized in that, described determination module comprises:

First determination module, for determining the traveling arc length of described target vehicle on described target road center line and target road hop count corresponding to described traveling arc length;

First searches module, for according to described target road hop count, searches target road line style corresponding to default described target road hop count and initial target road parameters.

7. device according to claim 5, is characterized in that, described determination module comprises:

Second searches module, according to target road line style and the target road hop count of the described target road preset, searches the initial target road parameters of default described target road;

First computing module, for the reference position according to described target vehicle, final position and described initial target road parameters, according to different target road line style, calculates the traveling arc length of described target vehicle on described target road center line.

8. device according to claim 7, is characterized in that, described first computing module comprises:

Straight line arc length computing module, for when described target road line style is straight line, calculate the target location of target vehicle on described target road center line according to straight-line travelling arc length formula, described straight-line travelling arc length formula is:

s＝(x _v-x ₀)·cosψ+(y _v-y ₀)·sinψ；

Wherein, S is for exercising arc length, (x _v, y _v) represent final position coordinate, (x ₀, y ₀) representing starting position coordinates, described initial target road parameters comprises starting point position angle ψ ₀;

Circular arc line arc length computing module, for when described target road line style is circular arc line, travels arc length formula calculate the target location of target vehicle on described target road center line according to circular arc line, described circular arc line travels arc length formula and is:

$s=\frac{(\arctan \frac{y_v-y_0}{x_v-x_0}-\frac{\mathrm{\π}}{2})\mathrm{mod}\left(2\mathrm{\π}\right)-{\mathrm{\Ψ}}_0}{{\mathrm{\ρ}}_0};$

Wherein, S is for exercising arc length, (x _v, y _v) represent final position coordinate, (x ₀, y ₀) representing starting position coordinates, described initial target road parameters comprises starting point curvature ρ ₀;

Clothoid arc length computing module, for when described target road line style is clothoid, travel arc length computing formula according to clothoid and calculate the target location of target vehicle on described target road center line by iterative algorithm, described clothoid travels arc length formula and is:

$S=\min \left(\sqrt{{(x_v-x_p^{\′})}^2+{(y_v-y_p^{\′})}^2}\right);$

Wherein, $x_p^{\′}=S^{\′}-\frac{S^{\′5}}{40{\left({\mathrm{RL}}_s\right)}^2},y_p^{\′}=\frac{S^{\′3}}{6{\mathrm{RL}}_S}-\frac{S^{\′7}}{336{\left({\mathrm{RL}}_S\right)}^3};$

Described S is for travelling arc length, and S' is any arc length, (x' _p, y' _p) representing the position coordinates of any point on clothoid, described initial target road parameters comprises target road length L _s, radius of curvature R.