CN109631925B - Main and auxiliary road determining method and device, storage medium and electronic equipment - Google Patents
Main and auxiliary road determining method and device, storage medium and electronic equipment Download PDFInfo
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- CN109631925B CN109631925B CN201811574237.5A CN201811574237A CN109631925B CN 109631925 B CN109631925 B CN 109631925B CN 201811574237 A CN201811574237 A CN 201811574237A CN 109631925 B CN109631925 B CN 109631925B
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
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Abstract
The invention provides a main road and auxiliary road determining method, a main road and auxiliary road determining device, a storage medium and electronic equipment. The invention provides a main and auxiliary road determining method, which comprises the following steps: the method comprises the steps of firstly determining a first attaching degree of a vehicle driving direction and a main road and determining a second attaching degree of the vehicle driving direction and a side road, wherein the attaching degree is used for representing the attaching degree of the vehicle driving direction and a road azimuth angle, and then determining road information where the vehicle is located currently according to the first attaching degree and the second attaching degree, wherein the road information is that the vehicle enters the main road or the vehicle enters the side road. The method for determining the main road and the auxiliary road can enable the vehicle navigation system to accurately distinguish whether the current driving state enters the main road or the auxiliary road, so that the subsequent accurate navigation of the vehicle can be carried out, and the intelligence of the vehicle navigation system is improved.
Description
Technical Field
The invention relates to the technical field of vehicle navigation, in particular to a main road and auxiliary road determining method, a main road and auxiliary road determining device, a storage medium and electronic equipment.
Background
With the development of the automobile industry and the improvement of the living standard of people, automobiles become daily transportation tools for people to go out, and in the daily use process of the vehicles, the vehicles are often required to be guided to the destination through a navigation system.
In order to meet the traffic requirements of cities, city expressways are built in many large cities, and the expressways are divided into main roads and auxiliary roads. Since the vehicle needs to be shunted at the bifurcation of the main road and the auxiliary road, congestion often occurs at the bifurcation of the main road and the auxiliary road.
Because the distance between the main road and the auxiliary road is usually small, misjudgment of the vehicle navigation system is easily caused, so that the vehicle navigation system is difficult to distinguish whether the current vehicle runs on the main road or the auxiliary road, and further subsequent navigation errors of the vehicle are caused.
Disclosure of Invention
The invention provides a main and auxiliary road determining method, a main and auxiliary road determining device, a storage medium and electronic equipment, so that a vehicle navigation system can accurately judge whether a current vehicle is in a main road or an auxiliary road, and accurate navigation is performed subsequently.
In a first aspect, the present invention further provides a method for determining a primary road and a secondary road, including:
determining a first fitting degree of a vehicle driving direction and a main road and a second fitting degree of the vehicle driving direction and a side road, wherein the fitting degree is used for representing the fitting degree of the vehicle driving direction and a road azimuth angle;
determining the current road information of the vehicle according to the first attaching degree and the second attaching degree, wherein the road information is that the vehicle enters a main road or enters a secondary road.
In one possible design, before the determining a first degree of conformity of the vehicle driving direction with the main road and determining a second degree of conformity of the vehicle driving direction with the auxiliary road, the method further includes:
and acquiring the current position of the vehicle, and determining that the vehicle is positioned at a bifurcation of a main road and a secondary road according to the current position.
In one possible design, before the determining a first degree of conformity of the vehicle driving direction with the main road and determining a second degree of conformity of the vehicle driving direction with the auxiliary road, the method further includes:
and determining that the vehicle originally runs on the main road or the auxiliary road according to the current position.
In one possible design, the determining a first degree of engagement of the vehicle travel direction with the main road and determining a second degree of engagement of the vehicle travel direction with the auxiliary road includes:
determining a first absolute angle difference according to the vehicle running direction and a preset main road azimuth angle, and determining a second absolute angle difference according to the vehicle running direction and a preset auxiliary road azimuth angle;
and determining the first fitting degree according to the first absolute angle difference, and determining the second fitting degree according to the second absolute angle difference, wherein the relation between the absolute angle difference and the fitting degree is negative correlation.
In one possible design, the determining a first degree of engagement of the vehicle travel direction with the main road and determining a second degree of engagement of the vehicle travel direction with the auxiliary road includes:
determining a first absolute angle difference according to the vehicle running direction and a preset main road azimuth angle, and determining a second absolute angle difference according to the vehicle running direction and a preset auxiliary road azimuth angle;
determining a relative angle difference according to a first driving angle of the vehicle at a first moment and a second driving angle of the vehicle at a second moment;
determining the first attaching degree according to the first absolute angle difference, a preset first absolute angle weighted value, the relative angle difference and a preset first relative angle weighted value;
and determining the second attaching degree according to the second absolute angle difference, a preset second absolute angle weight value, the relative angle difference and a preset second relative angle weight value.
In one possible design, the determining a first degree of engagement of the vehicle travel direction with the main road and determining a second degree of engagement of the vehicle travel direction with the auxiliary road includes:
determining a first absolute angle difference according to the vehicle running direction and a preset main road azimuth angle, and determining a second absolute angle difference according to the vehicle running direction and a preset auxiliary road azimuth angle;
determining a relative angle difference according to a first driving angle of the vehicle at a first moment and a second driving angle of the vehicle at a second moment;
determining a driving angle difference according to a first steering wheel angle of the vehicle at the first moment and a second steering wheel angle of the vehicle at the second moment;
determining the first fitting degree according to the first absolute angle difference, a preset first absolute angle weight value, the relative angle difference, a preset first relative angle weight value, the driving angle difference and a preset first driving angle weight value;
and determining the second fitting degree according to the second absolute angle difference, a preset second absolute angle weighted value, the relative angle difference, a preset second relative angle weighted value, the driving angle difference and a preset second driving angle weighted value.
In a second aspect, the present invention further provides a primary and secondary road determining apparatus, including:
the determining module is used for determining a first fitting degree of a vehicle driving direction and a main road and determining a second fitting degree of the vehicle driving direction and a side road, wherein the fitting degree is used for representing the fitting degree of the vehicle driving direction and a road azimuth angle;
the processing module is used for determining the current road information of the vehicle according to the first attaching degree and the second attaching degree, wherein the road information is that the vehicle enters a main road or the vehicle enters a secondary road.
In one possible design, the primary and secondary road determining apparatus further includes:
the acquisition module is used for acquiring the current position of the vehicle and determining that the vehicle is positioned at a bifurcation of a main road and a secondary road according to the current position.
In one possible design, the determining module is further configured to determine that the vehicle originally traveled on the main road or the auxiliary road according to the current position.
In one possible design, the determining module is specifically configured to:
determining a first absolute angle difference according to the vehicle running direction and a preset main road azimuth angle, and determining a second absolute angle difference according to the vehicle running direction and a preset auxiliary road azimuth angle;
and determining the first fitting degree according to the first absolute angle difference, and determining the second fitting degree according to the second absolute angle difference, wherein the relation between the absolute angle difference and the fitting degree is negative correlation.
In one possible design, the determining module is specifically configured to:
determining a first absolute angle difference according to the vehicle running direction and a preset main road azimuth angle, and determining a second absolute angle difference according to the vehicle running direction and a preset auxiliary road azimuth angle;
determining a relative angle difference according to a first driving angle of the vehicle at a first moment and a second driving angle of the vehicle at a second moment;
determining the first attaching degree according to the first absolute angle difference, a preset first absolute angle weighted value, the relative angle difference and a preset first relative angle weighted value;
and determining the second attaching degree according to the second absolute angle difference, a preset second absolute angle weight value, the relative angle difference and a preset second relative angle weight value.
In one possible design, the determining module is specifically configured to:
determining a first absolute angle difference according to the vehicle running direction and a preset main road azimuth angle, and determining a second absolute angle difference according to the vehicle running direction and a preset auxiliary road azimuth angle;
determining a relative angle difference according to a first driving angle of the vehicle at a first moment and a second driving angle of the vehicle at a second moment;
determining a driving angle difference according to a first steering wheel angle of the vehicle at the first moment and a second steering wheel angle of the vehicle at the second moment;
determining the first fitting degree according to the first absolute angle difference, a preset first absolute angle weight value, the relative angle difference, a preset first relative angle weight value, the driving angle difference and a preset first driving angle weight value;
and determining the second fitting degree according to the second absolute angle difference, a preset second absolute angle weighted value, the relative angle difference, a preset second relative angle weighted value, the driving angle difference and a preset second driving angle weighted value.
In a third aspect, the present invention also provides a vehicle comprising: the primary and secondary road determining apparatus according to any one of the second aspect.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements any one of the possible primary and secondary road determination methods of the first aspect.
In a fifth aspect, the present invention further provides an electronic device, including:
a processor; and the number of the first and second groups,
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform any one of the possible primary and secondary road determination methods of the first aspect via execution of the executable instructions.
According to the main and auxiliary road determining method, the main and auxiliary road determining device, the storage medium and the electronic equipment, the first fitting degree of the driving direction of the vehicle and the main road and the second fitting degree of the driving direction of the vehicle and the auxiliary road are respectively determined, and then the first fitting degree and the second fitting degree are compared to determine whether the vehicle enters the main road or the auxiliary road currently, so that the vehicle navigation system can accurately distinguish whether the current driving state enters the main road or the auxiliary road, the vehicle can accurately navigate subsequently, and the intelligence of the vehicle navigation system is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow diagram illustrating a primary and secondary road determination method in accordance with an exemplary embodiment of the present invention;
FIG. 2 is a schematic flow chart of a possible step 101 in the embodiment shown in FIG. 1;
FIG. 3 is a schematic flow chart of one possible process of step 102 in the embodiment shown in FIG. 1;
FIG. 4 is a diagram of one possible application scenario in the embodiment shown in FIG. 1;
FIG. 5 is a diagram of another possible application scenario in the embodiment shown in FIG. 1;
FIG. 6 is a schematic diagram of another possible flow chart of step 101 in the embodiment shown in FIG. 1;
FIG. 7 is a schematic flow chart of another possible step 102 in the embodiment shown in FIG. 1;
FIG. 8 is a schematic diagram of still another possible flow chart of step 101 in the embodiment shown in FIG. 1;
FIG. 9 is a schematic diagram of still another possible flow chart of step 102 in the embodiment shown in FIG. 1;
fig. 10 is a schematic structural diagram illustrating a primary and secondary road determining apparatus according to an exemplary embodiment of the present invention;
fig. 11 is a schematic structural diagram of a primary and secondary road determination apparatus according to another exemplary embodiment of the present invention;
fig. 12 is a schematic structural diagram of an electronic device shown in accordance with an example embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart illustrating a primary and secondary road determination method according to an exemplary embodiment of the invention. As shown in fig. 1, the method for determining a main road and a side road provided by this embodiment includes:
Specifically, a first attaching degree of the vehicle driving direction and the main road is determined, wherein the attaching degree is used for representing the attaching degree of the vehicle driving direction and the road azimuth, and the closer the vehicle driving direction is to the main road azimuth, the higher the first attaching degree is. It should be understood that the vehicle traveling direction may be determined by a GPS system or a gyroscope, and the manner of acquiring the vehicle traveling direction is not particularly limited in this embodiment.
In a possible implementation, fig. 2 is a schematic flow chart of step 101 in the embodiment shown in fig. 1. As shown in fig. 2, step 101 in this embodiment includes:
Specifically, before determining the main road and the auxiliary road, the vehicle needs to obtain the current position of the vehicle, and determine that the vehicle is located at the bifurcation of the main road and the auxiliary road according to the current position. When the vehicle is located at the main and auxiliary road bifurcation, determining a first absolute angle difference according to the vehicle driving direction and a preset main road azimuth angle, wherein the larger the first absolute angle difference is, the larger the deviation between the vehicle driving direction and the main road azimuth angle is. It is to be understood that the preset main road azimuth angle may be obtained by map data of vehicle navigation, and the azimuth angle of each road is preset in each map.
After the first absolute angle difference is determined, a first fitting degree is determined according to the first absolute angle difference, wherein the relation between the first absolute angle difference and the first fitting degree is negative correlation, namely the larger the first absolute angle difference is, the smaller the first fitting degree is.
And 102, determining a second fitting degree of the vehicle driving direction and the auxiliary road.
Specifically, a second attaching degree of the vehicle driving direction and the auxiliary road is determined, wherein the attaching degree is used for representing the attaching degree of the vehicle driving direction and the road azimuth, and the closer the vehicle driving direction and the auxiliary road azimuth are, the higher the second attaching degree is. It should be understood that the vehicle traveling direction may be determined by a GPS system or a gyroscope, and the manner of acquiring the vehicle traveling direction is not particularly limited in this embodiment.
In one possible implementation, fig. 3 is a schematic flow chart of step 102 in the embodiment shown in fig. 1. As shown in FIG. 3, step 102 in this embodiment comprises
Specifically, before determining the main road and the auxiliary road, the vehicle needs to obtain the current position of the vehicle, and determine that the vehicle is located at the bifurcation of the main road and the auxiliary road according to the current position. And when the vehicle is positioned at the main and auxiliary road bifurcation, determining a second absolute angle difference according to the vehicle driving direction and a preset auxiliary road azimuth angle, wherein the larger the second absolute angle difference is, the larger the deviation between the vehicle driving direction and the auxiliary road azimuth angle is. It should be understood that the preset side road azimuth angle may be obtained from map data of the vehicle navigation system, and the azimuth angle of each road is preset in each map.
And step 10212, determining a second fitting degree according to the second absolute angle difference.
After the second absolute angle difference is determined, a second fitting degree is determined according to the second absolute angle difference, wherein the relationship between the second absolute angle difference and the second fitting degree is negative correlation, namely the larger the second absolute angle difference is, the smaller the second fitting degree is.
And 103, determining the current road information of the vehicle according to the first attaching degree and the second attaching degree.
Specifically, after the first attaching degree and the second attaching degree are determined, the road information where the vehicle is located at present is determined according to the first attaching degree and the second attaching degree, wherein the road information is that the vehicle enters a main road or the vehicle enters a secondary road.
Fig. 4 is a diagram of one possible application scenario in the embodiment shown in fig. 1. As shown in fig. 4, the driving direction of the vehicle further fits the azimuth angle of the main road, i.e. the first degree of fit is greater than the second degree of fit, and the road information is that the vehicle enters the main road.
Fig. 5 is a diagram of another possible application scenario in the embodiment shown in fig. 1. As shown in fig. 5, the vehicle driving direction of the vehicle is closer to the azimuth of the auxiliary road, i.e. the first degree of fitting is smaller than the second degree of fitting, and the road information is that the vehicle enters the auxiliary road.
It should be noted that, when the first attaching degree is equal to the second attaching degree, it is determined that the vehicle originally travels on the main road or the auxiliary road according to the current position, if the vehicle originally travels on the main road, the road information indicates that the vehicle enters the main road, and if the vehicle originally travels on the auxiliary road, the road information indicates that the vehicle enters the auxiliary road.
In this embodiment, through confirming the first laminating degree of vehicle direction of travel and main road respectively and with the second laminating degree of auxiliary road, then, compare first laminating degree and second laminating degree and confirm the present whether main road or the road of entering of vehicle is confirmed to make vehicle navigation system accurately distinguish the present state of traveling and enter main road or auxiliary road, and then make the subsequent accurate navigation that can carry out of vehicle, thereby improve vehicle navigation system's intellectuality.
In order to further improve the recognition accuracy, the determination of the main road and the auxiliary road may be performed in combination with dynamic driving variation data of the vehicle. Fig. 6 is another possible flow chart of step 101 in the embodiment shown in fig. 1. As shown in fig. 6, step 101 in this embodiment includes:
Specifically, before determining the main road and the auxiliary road, the vehicle needs to obtain the current position of the vehicle, and determine that the vehicle is located at the bifurcation of the main road and the auxiliary road according to the current position. When the vehicle is located at the main and auxiliary road bifurcation, determining a first absolute angle difference according to the vehicle driving direction and a preset main road azimuth angle, wherein the larger the first absolute angle difference is, the larger the deviation between the vehicle driving direction and the main road azimuth angle is. It is to be understood that the preset main road azimuth angle may be obtained by map data of vehicle navigation, and the azimuth angle of each road is preset in each map.
Specifically, the relative angle difference is determined according to the driving angles of the vehicle at two adjacent moments when the vehicle is at the position of the main and auxiliary road intersection, wherein the larger the relative angle difference is, the larger the rotating direction of the vehicle at the beginning of the main and auxiliary road intersection is.
After the first absolute angle difference and the relative angle difference are determined, a first attaching degree is determined according to the first absolute angle difference, a preset first absolute angle weighted value, the relative angle difference and a preset first relative angle weighted value. Specifically, the first adhesion degree may be a product of the first absolute angle difference and a preset first absolute angle weight value plus a product of the relative angle difference and a preset first relative angle weight value.
Fig. 7 is another possible flow diagram of step 102 in the embodiment of fig. 1. As shown in fig. 7, the step 102 provided by this embodiment includes:
and step 10221, determining a second absolute angle difference according to the vehicle driving direction and a preset auxiliary road azimuth angle.
Specifically, before determining the main road and the auxiliary road, the vehicle needs to obtain the current position of the vehicle, and determine that the vehicle is located at the bifurcation of the main road and the auxiliary road according to the current position. And when the vehicle is positioned at the main and auxiliary road bifurcation, determining a second absolute angle difference according to the vehicle driving direction and a preset auxiliary road azimuth angle, wherein the larger the second absolute angle difference is, the larger the deviation between the vehicle driving direction and the auxiliary road azimuth angle is. It should be understood that the preset side road azimuth angle may be obtained from map data of the vehicle navigation system, and the azimuth angle of each road is preset in each map.
Specifically, the relative angle difference is determined according to the driving angles of the vehicle at two adjacent moments when the vehicle is at the position of the main and auxiliary road intersection, wherein the larger the relative angle difference is, the larger the rotating direction of the vehicle at the beginning of the main and auxiliary road intersection is.
After the second absolute angle difference and the relative angle difference are determined, a second fitting degree is determined according to the second absolute angle difference, the preset second absolute angle weighted value, the relative angle difference and the preset second relative angle weighted value. Specifically, the second conformity degree may be a result of adding a product of the second absolute angle difference and a preset second absolute angle weight value to a product of the relative angle difference and a preset second relative angle weight value.
In step 101 shown in fig. 6 and step 102 shown in fig. 7, when the vehicle originally runs on the main road, the preset first relative angle weight value is greater than the preset second relative angle weight value, and when the vehicle originally runs on the auxiliary road, the preset first relative angle weight value is smaller than the preset second relative angle weight value, and the preset first relative angle weight value and the preset second relative angle weight value may be obtained by being preset in the navigation system, or by performing deep learning on a large amount of data of main and auxiliary road intersections, which is not specifically limited in this embodiment.
Fig. 8 is a schematic diagram of another possible flow of step 101 in the embodiment shown in fig. 1. As shown in fig. 8, step 101 in this embodiment includes:
Specifically, before determining the main road and the auxiliary road, the vehicle needs to obtain the current position of the vehicle, and determine that the vehicle is located at the bifurcation of the main road and the auxiliary road according to the current position. When the vehicle is located at the main and auxiliary road bifurcation, determining a first absolute angle difference according to the vehicle driving direction and a preset main road azimuth angle, wherein the larger the first absolute angle difference is, the larger the deviation between the vehicle driving direction and the main road azimuth angle is. It is to be understood that the preset main road azimuth angle may be obtained by map data of vehicle navigation, and the azimuth angle of each road is preset in each map.
Specifically, the relative angle difference is determined according to the driving angles of the vehicle at two adjacent moments when the vehicle is at the position of the main and auxiliary road intersection, wherein the larger the relative angle difference is, the larger the rotating direction of the vehicle at the beginning of the main and auxiliary road intersection is.
Specifically, the driving angle difference is determined according to the steering wheel rotating angles of two adjacent moments when the vehicle is at the position of the main and auxiliary road intersection, wherein the larger the driving angle difference is, the larger the rotating direction of the vehicle at the beginning of the main and auxiliary road intersection is.
After the first absolute angle difference, the relative angle difference and the driving angle difference are determined, a first fitting degree is determined according to the first absolute angle difference, a preset first absolute angle weighted value, the relative angle difference, a preset first relative angle weighted value, the driving angle difference and a preset first driving angle weighted value. Specifically, the first adhesion degree may be a result of a product of the first absolute angle difference and a preset first absolute angle weight value, a product of the relative angle difference and a preset first relative angle weight value, and a product of the driving angle difference and a preset first driving angle weight value.
Fig. 9 is a schematic diagram of another possible flow of step 102 in the embodiment shown in fig. 1. As shown in fig. 9, the step 102 provided by this embodiment includes:
and step 10231, determining a second absolute angle difference according to the vehicle running direction and a preset auxiliary road azimuth angle.
Specifically, before determining the main road and the auxiliary road, the vehicle needs to obtain the current position of the vehicle, and determine that the vehicle is located at the bifurcation of the main road and the auxiliary road according to the current position. And when the vehicle is positioned at the main and auxiliary road bifurcation, determining a second absolute angle difference according to the vehicle driving direction and a preset auxiliary road azimuth angle, wherein the larger the second absolute angle difference is, the larger the deviation between the vehicle driving direction and the auxiliary road azimuth angle is. It should be understood that the preset side road azimuth angle may be obtained from map data of the vehicle navigation system, and the azimuth angle of each road is preset in each map.
Specifically, the relative angle difference is determined according to the driving angles of the vehicle at two adjacent moments when the vehicle is at the position of the main and auxiliary road intersection, wherein the larger the relative angle difference is, the larger the rotating direction of the vehicle at the beginning of the main and auxiliary road intersection is.
Specifically, the driving angle difference is determined according to the steering wheel rotating angles of two adjacent moments when the vehicle is at the position of the main and auxiliary road intersection, wherein the larger the driving angle difference is, the larger the rotating direction of the vehicle at the beginning of the main and auxiliary road intersection is.
And 10234, determining a second fitting degree according to the second absolute angle difference, the preset second absolute angle weight value, the relative angle difference, the preset second relative angle weight value, the driving angle difference and the preset second driving angle weight value.
After the second absolute angle difference, the relative angle difference and the driving angle difference are determined, a second fitting degree is determined according to the second absolute angle difference, the preset second absolute angle weighted value, the relative angle difference, the preset second relative angle weighted value, the driving angle difference and the preset second driving angle weighted value. Specifically, the second conformity degree may be a result of a product of the second absolute angle difference and a preset second absolute angle weight value, a product of the relative angle difference and a preset second relative angle weight value, and a product of the driving angle difference and a preset second driving angle weight value.
In step 101 shown in fig. 8 and step 102 shown in fig. 9, when the vehicle originally runs on the main road, the preset first relative angle weight value is greater than the preset second relative angle weight value, the first driving angle weight value is greater than the preset second relative angle weight value, when the vehicle originally runs on the auxiliary road, the preset first relative angle weight value is less than the preset second relative angle weight value, the first driving angle weight value is less than the preset second relative angle weight value, and the preset first relative angle weight value and the preset second relative angle weight value may be preset in the navigation system, or may be obtained after deep learning of a large amount of data of main and auxiliary road intersections, which is not specifically limited in this embodiment.
Fig. 10 is a schematic structural diagram illustrating a primary and secondary road determination apparatus according to an exemplary embodiment of the present invention. As shown in fig. 10, the present embodiment also provides a primary and secondary road determination device, including:
the determining module 201 is configured to determine a first degree of fitting of a vehicle driving direction to a main road, and determine a second degree of fitting of the vehicle driving direction to a side road, where the degree of fitting is used to represent a degree of fitting of the vehicle driving direction to a road azimuth;
the processing module 202 is configured to determine road information where the vehicle is located currently according to the first attaching degree and the second attaching degree, where the road information is that the vehicle enters a main road or that the vehicle enters a secondary road.
In one possible design, the primary and secondary road determining apparatus further includes:
the obtaining module 203 is configured to obtain a current position of the vehicle, and determine that the vehicle is located at a bifurcation of a main road and a secondary road according to the current position.
In one possible design, the determining module 201 is further configured to determine that the vehicle originally traveled on the main road or the auxiliary road according to the current position.
In one possible design, the determining module 201 is specifically configured to:
determining a first absolute angle difference according to the vehicle running direction and a preset main road azimuth angle, and determining a second absolute angle difference according to the vehicle running direction and a preset auxiliary road azimuth angle;
and determining the first fitting degree according to the first absolute angle difference, and determining the second fitting degree according to the second absolute angle difference, wherein the relation between the absolute angle difference and the fitting degree is negative correlation.
In one possible design, the determining module 201 is specifically configured to:
determining a first absolute angle difference according to the vehicle running direction and a preset main road azimuth angle, and determining a second absolute angle difference according to the vehicle running direction and a preset auxiliary road azimuth angle;
determining a relative angle difference according to a first driving angle of the vehicle at a first moment and a second driving angle of the vehicle at a second moment;
determining the first attaching degree according to the first absolute angle difference, a preset first absolute angle weighted value, the relative angle difference and a preset first relative angle weighted value;
and determining the second attaching degree according to the second absolute angle difference, a preset second absolute angle weight value, the relative angle difference and a preset second relative angle weight value.
In one possible design, the determining module 201 is specifically configured to:
determining a first absolute angle difference according to the vehicle running direction and a preset main road azimuth angle, and determining a second absolute angle difference according to the vehicle running direction and a preset auxiliary road azimuth angle;
determining a relative angle difference according to a first driving angle of the vehicle at a first moment and a second driving angle of the vehicle at a second moment;
determining a driving angle difference according to a first steering wheel angle of the vehicle at the first moment and a second steering wheel angle of the vehicle at the second moment;
determining the first fitting degree according to the first absolute angle difference, a preset first absolute angle weight value, the relative angle difference, a preset first relative angle weight value, the driving angle difference and a preset first driving angle weight value;
and determining the second fitting degree according to the second absolute angle difference, a preset second absolute angle weighted value, the relative angle difference, a preset second relative angle weighted value, the driving angle difference and a preset second driving angle weighted value.
It should be noted that the main and auxiliary road determining apparatus in the embodiments shown in fig. 10 to 11 may be used to execute the method in the embodiments shown in fig. 1 to 9, and the specific implementation manner and the technical effect are similar, and are not described again here.
In another aspect, the present invention provides a vehicle comprising: fig. 10-11 illustrate the primary and secondary road determining means in the embodiment.
The present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the technical solutions of any of the foregoing method embodiments, and the implementation principles and technical effects are similar, and are not described herein again.
Fig. 12 is a schematic structural diagram of an electronic device shown in accordance with an example embodiment. As shown in fig. 12, the electronic device 30 provided in the present embodiment includes:
a processor 301;
a memory 302 for storing a computer program for the processor;
wherein the processor 301 is configured to implement the automatic driving control method provided by any implementation manner of the foregoing method embodiment by executing the computer program.
The processor 301 is configured to execute the technical solution of any one of the foregoing method embodiments by executing the executable instructions, and the implementation principle and the technical effect are similar, which are not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A method for determining a primary and secondary road, comprising:
determining a first fitting degree of a vehicle driving direction and a main road and a second fitting degree of the vehicle driving direction and a side road, wherein the fitting degree is used for representing the fitting degree of the vehicle driving direction and a road azimuth angle;
determining road information of the vehicle according to the first attaching degree and the second attaching degree, wherein the road information is that the vehicle enters a main road or the vehicle enters a secondary road;
the determining a first degree of engagement of a vehicle driving direction with a main road and determining a second degree of engagement of the vehicle driving direction with a side road includes:
determining a first absolute angle difference according to the vehicle running direction and a preset main road azimuth angle, and determining a second absolute angle difference according to the vehicle running direction and a preset auxiliary road azimuth angle;
and determining the first fitting degree according to the first absolute angle difference, and determining the second fitting degree according to the second absolute angle difference, wherein the relation between the absolute angle difference and the fitting degree is negative correlation.
2. The primary-secondary road determination method according to claim 1, further comprising, before the determining a first degree of conformity of the vehicle driving direction with the primary road and determining a second degree of conformity of the vehicle driving direction with the secondary road:
and acquiring the current position of the vehicle, and determining that the vehicle is positioned at a bifurcation of a main road and a secondary road according to the current position.
3. The primary-secondary road determination method according to claim 2, further comprising, before the determining a first degree of conformity of the vehicle travel direction with the primary road and determining a second degree of conformity of the vehicle travel direction with the secondary road:
and determining that the vehicle originally runs on the main road or the auxiliary road according to the current position.
4. The primary and secondary road determination method according to claim 3, wherein the determining the first degree of fitting from the first absolute angle difference and the determining the second degree of fitting from the second absolute angle difference includes:
determining a relative angle difference according to a first driving angle of the vehicle at a first moment and a second driving angle of the vehicle at a second moment;
determining the first attaching degree according to the first absolute angle difference, a preset first absolute angle weighted value, the relative angle difference and a preset first relative angle weighted value;
and determining the second attaching degree according to the second absolute angle difference, a preset second absolute angle weight value, the relative angle difference and a preset second relative angle weight value.
5. The primary and secondary road determination method according to claim 3, wherein the determining the first degree of fitting from the first absolute angle difference and the determining the second degree of fitting from the second absolute angle difference includes:
determining a relative angle difference according to a first driving angle of the vehicle at a first moment and a second driving angle of the vehicle at a second moment;
determining a driving angle difference according to a first steering wheel angle of the vehicle at the first moment and a second steering wheel angle of the vehicle at the second moment;
determining the first fitting degree according to the first absolute angle difference, a preset first absolute angle weight value, the relative angle difference, a preset first relative angle weight value, the driving angle difference and a preset first driving angle weight value;
and determining the second fitting degree according to the second absolute angle difference, a preset second absolute angle weighted value, the relative angle difference, a preset second relative angle weighted value, the driving angle difference and a preset second driving angle weighted value.
6. A primary and secondary road determination apparatus, comprising:
the determining module is used for determining a first fitting degree of a vehicle driving direction and a main road and determining a second fitting degree of the vehicle driving direction and a side road, wherein the fitting degree is used for representing the fitting degree of the vehicle driving direction and a road azimuth angle;
the processing module is used for determining road information where the vehicle is located currently according to the first attaching degree and the second attaching degree, wherein the road information is that the vehicle enters a main road or the vehicle enters a secondary road;
the determining module is specifically configured to:
determining a first absolute angle difference according to the vehicle running direction and a preset main road azimuth angle, and determining a second absolute angle difference according to the vehicle running direction and a preset auxiliary road azimuth angle;
and determining the first fitting degree according to the first absolute angle difference, and determining the second fitting degree according to the second absolute angle difference, wherein the relation between the absolute angle difference and the fitting degree is negative correlation.
7. A vehicle, characterized by comprising: a primary and secondary path determination apparatus as claimed in claim 6.
8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the primary and secondary road determination method according to any one of claims 1 to 5.
9. An electronic device, comprising:
a processor; and the number of the first and second groups,
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the primary and secondary road determination method of any of claims 1-5 via execution of the executable instructions.
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