CN114684198A - Course angle determining method and device, controller and vehicle - Google Patents
Course angle determining method and device, controller and vehicle Download PDFInfo
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- CN114684198A CN114684198A CN202210343690.5A CN202210343690A CN114684198A CN 114684198 A CN114684198 A CN 114684198A CN 202210343690 A CN202210343690 A CN 202210343690A CN 114684198 A CN114684198 A CN 114684198A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle for navigation systems
Abstract
The invention discloses a course angle determining method and device, a controller and a vehicle, relates to the technical field of vehicle control, and mainly aims to improve the accuracy of determining a course angle of the vehicle; the main technical scheme comprises: when the fact that the vehicle meets the parking condition is determined, a first course angle of the vehicle is obtained; when the vehicle is determined to accord with the starting condition, at least two positioning data correspondingly received by at least two antenna devices of the vehicle are acquired; determining a second heading angle of the vehicle based on the at least two positioning data; and determining the target course angle of the vehicle according to the first course angle and the second course angle.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a course angle determining method and device, a controller and a vehicle.
Background
The heading angle of a vehicle is one of the most critical parameters in autopilot technology. During the driving process of the automatic driving automobile, the current course angle needs to be determined, and the driving direction of the automobile is controlled according to the course angle.
At present, the determination of the vehicle heading angle is completed based on a scheme of a dual antenna of a high-precision GNSS (Global Navigation Satellite System), that is, a dual-antenna baseline is determined by positioning data acquired by the dual antenna, and the vehicle heading angle is determined according to an included angle between the dual-antenna baseline and a north direction.
However, in a half-shielding and full-shielding environment, the reliability, stability, continuity and precision of the positioning data acquired by the high-precision GNSS dual antenna are degraded, and it is difficult to determine an accurate course angle by using the positioning data acquired by the GNSS dual antenna.
Disclosure of Invention
In view of this, the invention provides a course angle determining method and device, a controller and a vehicle, and mainly aims to improve the accuracy of determining the course angle of the vehicle.
In order to achieve the above purpose, the present invention mainly provides the following technical solutions:
in a first aspect, the present invention provides a method for determining a heading angle, the method comprising:
when the fact that the vehicle meets the parking condition is determined, a first course angle of the vehicle is obtained;
when the vehicle is determined to accord with the starting condition, at least two positioning data correspondingly received by at least two antenna devices of the vehicle are acquired;
determining a second heading angle of the vehicle based on the at least two positioning data;
and determining the target course angle of the vehicle according to the first course angle and the second course angle.
In a second aspect, the present invention provides a heading angle determining apparatus, the apparatus comprising:
the vehicle control device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring a first course angle of a vehicle when the vehicle is determined to accord with a parking condition;
the second acquisition unit is used for acquiring at least two positioning data correspondingly received by at least two antenna devices of the vehicle when the vehicle is determined to accord with the starting condition;
a first determining unit, configured to determine a second heading angle of the vehicle based on the at least two positioning data;
and the second determining unit is used for determining the target course angle of the vehicle according to the first course angle and the second course angle.
In a third aspect, the present invention provides a controller comprising:
a memory for storing a computer program;
a processor for implementing the method of determining a heading angle according to the first aspect when executing the computer program.
In a fourth aspect, the present invention provides a vehicle comprising: a vehicle main body; the controller according to the third aspect provided on the vehicle body.
In a fifth aspect, the present invention provides a computer-readable storage medium, where the storage medium includes a stored program, and where the program is executed to control an apparatus on which the storage medium is located to execute the method for determining a heading angle according to the first aspect.
By means of the technical scheme, the course angle determining method and device, the controller and the vehicle provided by the invention can obtain the first course angle of the vehicle when the vehicle is determined to meet the parking condition. When the vehicle is determined to meet the starting condition, at least two positioning data correspondingly received by at least two antenna devices of the vehicle are acquired. A second heading angle of the vehicle is then determined based on the acquired at least two positioning data. And finally, determining the target course angle of the vehicle according to the first course angle and the second course angle. The target course angle of the vehicle in the scheme provided by the invention is determined based on the first course angle and the second course angle. The first heading angle is obtained when the vehicle meets the parking condition, and is a pre-stored heading angle for the vehicle to enter the starting state again. The second course angle is a course angle obtained according to the positioning data received by the antenna device when the vehicle meets the starting condition, and reflects the course condition of the vehicle when the vehicle is started. Therefore, even if the vehicle is in a half-shielding and full-shielding environment, the reliability, stability, continuity and precision of the positioning data acquired by the antenna equipment are degraded, and the heading angle with higher accuracy can be determined for the vehicle due to the existence of the first heading angle. Therefore, the scheme provided by the invention can improve the accuracy of determining the vehicle course angle.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings 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 chart illustrating a method for determining a heading angle according to an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a heading angle determining apparatus according to an embodiment of the invention;
FIG. 3 is a schematic structural diagram of a heading angle determining apparatus according to another embodiment of the invention;
fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
At present, the determination of the vehicle heading angle is completed based on a scheme of a dual antenna of a high-precision GNSS (Global Navigation Satellite System), that is, a dual-antenna baseline is determined by positioning data acquired by the dual antenna, and the vehicle heading angle is determined according to an included angle between the dual-antenna baseline and a north direction.
However, in a half-shielding or full-shielding environment, the reliability, stability, continuity and precision of the positioning data acquired by the high-precision GNSS dual antenna are degraded, and it is difficult to determine an accurate course angle by using the positioning data acquired by the GNSS dual antenna. In addition, the use of the dual high-precision GNSS antenna also increases the cost of the entire vehicle.
Therefore, in order to improve the accuracy of determining the vehicle course angle, the embodiment of the invention provides a course angle determining method and device, a controller and a vehicle. The course angle determining method and device provided by the embodiment of the invention can be applied to pure electric vehicles, hybrid vehicles and fuel powered vehicles. The following specifically describes a course angle determining method and device, a controller, and a vehicle provided by the embodiment of the invention.
As shown in fig. 1, an embodiment of the present invention provides a method for determining a heading angle, where the method mainly includes:
101. when the vehicle is determined to meet the parking condition, a first heading angle of the vehicle is obtained.
The vehicle meets the parking condition, namely, the vehicle enters the parking state and does not run any more. In order to quickly and accurately determine a target course angle of the vehicle when the vehicle enters the starting state again, a first course angle of the vehicle is acquired when the vehicle is determined to be in accordance with the parking condition. The first heading angle, which is a factor used to determine a target heading angle for the vehicle.
The following describes a method for determining that a vehicle meets a parking condition, which includes at least the following two methods:
first, the specific process of determining that the vehicle meets the parking condition includes: and when the power off of the whole vehicle is detected, determining that the vehicle meets the parking condition.
And powering off the whole vehicle, namely the vehicle is parked and the power equipment is turned off, so that when the power off of the whole vehicle is detected, the condition that the vehicle is in accordance with the parking condition is determined.
Secondly, the specific process of determining that the vehicle meets the parking condition comprises the following steps: and when the speed of the vehicle is detected to be less than the first target speed and the duration of the speed of the vehicle less than the first target speed is longer than the target duration, determining that the vehicle meets the parking condition.
And when the speed of the vehicle is less than the first target speed and the continuous duration of the speed of the vehicle less than the first target speed is longer than the target time, indicating that the vehicle has stopped with a high probability. For example, the specific scenario that the speed of the vehicle is less than the first target speed and the duration of the time that the speed of the vehicle is less than the first target speed is greater than the target time may be: the driver drives the vehicle into the parking space to park, arranges the vehicle articles, and does not turn off the power equipment of the vehicle in time.
In practical applications, the first target speed may be determined based on a service requirement, and this embodiment is not particularly limited. Illustratively, the first target speed is 0. The target duration may also be determined based on the service requirement, and this embodiment is not specifically limited. However, in order to distinguish the red light scene of the vehicle or the like, the target time period may be set to be longer than the experienced time period of the red light of the vehicle or the like.
The first heading angle, which is one of factors required to determine a target heading angle of the vehicle when the vehicle enters the start-up state again, is acquired when the vehicle meets the parking condition. After the first course angle is obtained, in order to facilitate the vehicle to use the first course angle in time when entering the starting state again, the first course information is stored into a target storage area in the vehicle after the first course angle information of the vehicle is obtained.
In practical applications, the target storage area may be selected based on specific service requirements. Illustratively, the target storage area is a domain control in the vehicle or a combined navigation in the vehicle.
102. When the vehicle is determined to meet the starting condition, at least two positioning data correspondingly received by at least two antenna devices of the vehicle are acquired.
The vehicle meets the starting condition, namely the vehicle enters the starting state and is ready to enter the running state. In order to quickly and accurately determine a target course angle required by the vehicle to run when the vehicle enters the running state again, when the vehicle is determined to meet the starting condition, at least two positioning data correspondingly received by at least two antenna devices of the vehicle are acquired, and a second course angle is determined according to the acquired at least two positioning data.
The following describes a method for determining that a vehicle meets a start condition, which includes at least the following two methods:
first, the specific process of determining that the vehicle meets the starting condition includes: and when the whole vehicle is detected to be electrified, determining that the vehicle meets the starting condition.
The whole vehicle is electrified, which indicates that the power equipment of the vehicle is started, and the vehicle can enter a running state at any time, so that when the whole vehicle is electrified, the vehicle is determined to meet the starting condition.
Secondly, the specific process of determining that the vehicle meets the starting condition comprises the following steps: and determining that the vehicle meets the starting condition when the speed of the vehicle is detected to reach the second target speed.
When the speed of the vehicle reaches the second target speed, it is described that the vehicle has probably traveled, and therefore when it is detected that the vehicle reaches the second target speed, it is determined that the vehicle meets the start condition. In practical applications, the second target speed may be determined based on a service requirement, and this embodiment is not particularly limited. Illustratively, the second target speed is a minimum speed required when the vehicle is taking off.
When it is determined that the vehicle meets the starting condition, at least two positioning data correspondingly received by at least two antenna devices of the vehicle need to be acquired. It can be seen that at least two antenna devices are provided in the vehicle, each antenna device being for receiving positioning data of the vehicle. In practical applications, the type of the antenna device may be determined based on service requirements, and this embodiment is not specifically limited. For example, all the antenna devices are the same type of antenna, and for example, different types of antennas are used for the antenna devices in the vehicle.
Illustratively, to improve the accuracy of the positioning, each of the at least two antenna devices is a high-precision antenna. The high-precision antenna may be a Global Navigation Satellite System (GNSS) antenna.
For example, in order to reduce the cost of the whole vehicle, two antenna devices are arranged in the vehicle, wherein one antenna device is a GNSS antenna, and the other antenna device is a vehicle-mounted integrated navigation device.
Further, in order to reduce the computational power consumption for determining the heading angle, it is necessary to detect whether a navigation instruction is received after determining that the vehicle meets the start condition. When the navigation instruction is detected, it is indicated that a user of the vehicle has a navigation demand, and at this time, at least two positioning data correspondingly received by at least two antenna devices of the vehicle are acquired. When the navigation instruction is not detected, it indicates that the user of the vehicle does not have a navigation requirement, and therefore, in order to reduce unnecessary power consumption, at least two positioning data correspondingly received by at least two antenna devices of the vehicle are not acquired.
103. Based on the at least two positioning data, a second heading angle of the vehicle is determined.
And the second course angle is a navigation angle of the vehicle when the vehicle meets the starting condition, and is the course angle of the current state of the vehicle. The second heading angle is determined based on the acquired positioning data.
A method for determining a second heading angle of a vehicle based on at least two positioning data is described below, the method comprising at least two of:
first, determining a second heading angle of the vehicle based on the at least two positioning data comprises: and determining the course angle of the at least two positioning data by using a course angle determining model to obtain a second course angle.
The course angle determination model is trained based on a plurality of positioning data, and is used for determining the course angle model based on the positioning data. The course angle determination model takes the positioning data as input, identifies the input positioning data, takes the identification result as a course angle, and takes the course angle as output. The specific type of the heading angle determination model described herein is not specifically limited in this embodiment. Illustratively, the heading angle determination model is a neural network model.
Secondly, when there are two antenna devices, determining a second heading angle of the vehicle based on the at least two positioning data comprises: and determining baselines of the two antenna devices based on the two positioning data correspondingly received by the two antenna devices, and determining an included angle between the baselines and the north direction as a second heading angle of the vehicle.
104. And determining the target course angle of the vehicle according to the first course angle and the second course angle.
The first course angle is a sailing direction angle of the vehicle obtained when the vehicle meets the parking condition, and the first course angle is a pre-stored course angle for determining a target course angle of the vehicle. The second course angle is determined according to at least two positioning data correspondingly received by at least two antenna devices of the vehicle, which are acquired when the vehicle meets the starting condition, and is embodied in the course condition of the vehicle in the starting state. In order to improve the accuracy of determining the target course angle of the vehicle, the target course angle of the vehicle needs to be determined according to the first course angle and the second course angle.
The specific process of determining the target heading angle of the vehicle according to the first heading angle and the second heading angle comprises the following steps 104A to 104C:
104A, assigning a first confidence to the first heading angle and a second confidence to the second heading angle.
The first heading angle is obtained when the vehicle meets the parking condition, and is a pre-stored heading angle for the vehicle to enter the starting state again. The second course angle is a course angle obtained according to the positioning data received by the antenna device when the vehicle meets the starting condition, and reflects the course condition of the vehicle when the vehicle is started. The target course angle is obtained by fusing the first course angle and the second course angle. Therefore, even if the vehicle is in an open area, the second heading angle cannot be determined or the error of the determination of the second heading angle is large, and the target heading angle can be quickly and accurately determined through the first heading angle.
The target course angle is obtained by fusing the first course angle and the second course angle. The basis for fusing the first course angle and the second course angle is as follows: a first confidence is assigned to the first heading angle and a second confidence is assigned to the second heading angle.
The specific process of allocating the first confidence degree to the first course angle and allocating the second confidence degree to the second course angle comprises the following steps from one step to the third step:
step one, determining the signal strength when the at least two antenna devices correspondingly receive the at least two positioning data.
The second confidence level represents the accuracy of the second heading angle. The accuracy of the second heading angle is limited by the signal strength of the antenna device when receiving the positioning data. The signal strength can reflect the condition that the antenna equipment is shielded. The stronger the signal strength is, the more accurate the received positioning data is, the more accurately the second course angle determined based on the positioning data can reflect the real course of the vehicle, and the higher the accuracy degree of the second course angle is. The weaker the signal strength, the lower the accuracy of the received positioning data, the smaller the degree to which the second course angle determined based on the positioning data reflects the true course of the vehicle, and the lower the accuracy of the second course angle. Therefore, when assigning the second confidence to the second heading angle, it is first necessary to determine the signal strength when at least two positioning data are received by at least two antenna devices.
And step two, distributing a second confidence coefficient corresponding to the signal intensity for the second course angle.
After the signal strength is determined, a target table is queried, wherein the target table records the corresponding relations between the plurality of signal strengths and the plurality of confidence degrees. A confidence in the target table corresponding to the determined signal strength is assigned as a second confidence to the second heading angle.
And thirdly, allocating a first confidence coefficient to the first course angle based on the second confidence coefficient, wherein the sum of the first confidence coefficient and the second confidence coefficient is 1.
The first confidence level represents the accuracy of the first heading angle. The second confidence level represents the accuracy of the second heading angle. The target confidence is obtained by fusing the first confidence and the second confidence, and therefore, the sum of the first confidence and the second confidence is 1. After the second confidence determination, determining a difference between 1 and the second confidence as a first confidence, and assigning the first confidence to the first heading angle.
104B, determining a product of the first heading angle and the first confidence level, and determining a product of the second heading angle and the second confidence level.
The product of the first heading angle and the first confidence level represents a proportion of the first heading angle in determining the target heading angle. The product of the second heading angle and the second confidence coefficient represents the proportion of the second heading angle in determining the target heading angle.
104C, determining the sum of the two determined products as the target heading angle of the vehicle.
The target heading angle of the vehicle is a heading angle required for controlling the traveling direction of the vehicle, which directly affects the traveling condition and the safety condition of the vehicle. The sum of the two determined products is determined as the target heading angle of the vehicle in the present embodiment. When the target course angle of the vehicle is determined, the first course angle and the second course angle are fully considered, and the fusion estimation and mutual verification of the first course angle and the second course angle are realized, so that the robustness and the accuracy of the target course angle are improved.
According to the course angle determining method provided by the embodiment of the invention, when the vehicle is determined to accord with the parking condition, the first course angle of the vehicle is obtained. When the vehicle is determined to meet the starting condition, at least two positioning data correspondingly received by at least two antenna devices of the vehicle are acquired. A second heading angle of the vehicle is then determined based on the acquired at least two positioning data. And finally, determining the target course angle of the vehicle according to the first course angle and the second course angle. In the scheme provided by the embodiment of the invention, the target course angle of the vehicle is determined based on the first course angle and the second course angle. The first course angle is obtained when the vehicle meets the parking condition, and is a pre-stored course angle for the vehicle to enter the starting state again. The second course angle is obtained according to the positioning data received by the antenna device when the vehicle meets the starting condition, and reflects the course condition of the vehicle when the vehicle is started. Therefore, even if the vehicle is in a half-shielding and full-shielding environment, the reliability, stability, continuity and precision of the positioning data acquired by the antenna equipment are degraded, and the heading angle with higher accuracy can be determined for the vehicle due to the existence of the first heading angle. Therefore, the scheme provided by the embodiment of the invention can improve the accuracy of determining the vehicle course angle.
Further, according to the above method embodiment, another embodiment of the present invention also provides a heading angle determining apparatus, as shown in fig. 2, the apparatus includes:
the vehicle control device comprises a first obtaining unit 21, a second obtaining unit and a control unit, wherein the first obtaining unit is used for obtaining a first course angle of a vehicle when the vehicle is determined to accord with a parking condition;
the second obtaining unit 22 is configured to obtain at least two positioning data correspondingly received by at least two antenna devices of the vehicle when it is determined that the vehicle meets the starting condition;
a first determining unit 23, configured to determine a second heading angle of the vehicle based on the at least two positioning data;
and the second determining unit 24 is used for determining the target course angle of the vehicle according to the first course angle and the second course angle.
The course angle determining device provided by the embodiment of the invention obtains the first course angle of the vehicle when the vehicle is determined to accord with the parking condition. When the vehicle is determined to meet the starting condition, at least two positioning data correspondingly received by at least two antenna devices of the vehicle are acquired. A second heading angle of the vehicle is then determined based on the acquired at least two positioning data. And finally, determining the target course angle of the vehicle according to the first course angle and the second course angle. The target course angle of the vehicle in the scheme provided by the embodiment of the invention is determined based on the first course angle and the second course angle. The first heading angle is obtained when the vehicle meets the parking condition, and is a pre-stored heading angle for the vehicle to enter the starting state again. The second course angle is a course angle obtained according to the positioning data received by the antenna device when the vehicle meets the starting condition, and reflects the course condition of the vehicle when the vehicle is started. Therefore, even if the vehicle is in a half-shielding and full-shielding environment, the reliability, stability, continuity and precision of the positioning data acquired by the antenna equipment are degraded, and the heading angle with higher accuracy can be determined for the vehicle due to the existence of the first heading angle. Therefore, the scheme provided by the embodiment of the invention can improve the accuracy of determining the vehicle course angle.
Optionally, as shown in fig. 3, the second determining unit 24 includes:
the assigning module 241 is configured to assign a first confidence to the first course angle and assign a second confidence to the second course angle;
a first determining module 242 for determining a product of the first heading angle and the first confidence level and determining a product of the second heading angle and the second confidence level;
a second determining module 243, configured to determine the sum of the two determined products as the target heading angle of the vehicle.
Optionally, as shown in fig. 3, the allocating module 241 is specifically configured to determine signal strengths of the at least two antenna devices when the at least two antenna devices correspondingly receive the at least two positioning data; assigning a second confidence corresponding to the signal strength to the second heading angle; and allocating a first confidence coefficient to the first course angle based on the second confidence coefficient, wherein the sum of the first confidence coefficient and the second confidence coefficient is 1.
Optionally, as shown in fig. 3, the first determining unit 23 is specifically configured to determine a heading angle of the at least two positioning data by using a heading angle determining model, so as to obtain the second heading angle.
Optionally, as shown in fig. 3, the first obtaining unit 21 includes:
the third determination module 211 is configured to determine that the vehicle meets a parking condition when the vehicle is detected to be powered off; or when the speed of the vehicle is detected to be smaller than a first target speed and the duration of the speed of the vehicle smaller than the first target speed is longer than the target duration, determining that the vehicle meets the parking condition.
Alternatively, as shown in fig. 3, the second obtaining unit 22 includes:
the fourth determining module 221 is configured to determine that the vehicle meets a starting condition when the vehicle is detected to be powered on; or, when the speed of the vehicle is detected to reach a second target speed, determining that the vehicle meets a starting condition.
Optionally, as shown in fig. 3, the apparatus further includes:
the storage unit 25 is configured to store the first heading information to a target storage area in the vehicle after the first obtaining unit 21 obtains the first heading angle information of the vehicle.
Optionally, as shown in fig. 3, the apparatus further includes:
a detection unit 26 for detecting whether a navigation instruction is received after the second acquisition unit 22 determines that the vehicle meets the start condition; when the navigation instruction is detected, the second acquiring unit 22 is triggered to acquire at least two positioning data correspondingly received by at least two antenna devices of the vehicle.
In the course angle determining device provided in the embodiment of the present invention, for details of the method used in the operation process of each functional module, reference may be made to the details of the corresponding method in the above method embodiment, and details are not described here again.
Further, according to the above embodiment, another embodiment of the present invention also provides a controller, including: a memory for storing a computer program;
and the processor is used for realizing the course angle determining method when executing the computer program.
Further, according to the above embodiment, another embodiment of the present invention also provides a vehicle, as shown in fig. 4, including: a vehicle body 31; the controller 32 as described above is provided on the vehicle body 31.
Further, according to the above embodiment, another embodiment of the present invention also provides a computer-readable storage medium, where the storage medium includes a stored program, and when the program runs, the apparatus on which the storage medium is located is controlled to execute the above heading angle determining method.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
It will be appreciated that the relevant features of the method and apparatus described above are referred to one another. In addition, "first", "second", and the like in the above embodiments are for distinguishing the embodiments, and do not represent merits of the embodiments.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components of the method, apparatus and framework for operation of a deep neural network model in accordance with embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website, or provided on a carrier signal, or provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means can be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Claims (10)
1. A method of determining a heading angle, the method comprising:
when the fact that the vehicle meets the parking condition is determined, a first course angle of the vehicle is obtained;
when the vehicle is determined to accord with the starting condition, at least two positioning data correspondingly received by at least two antenna devices of the vehicle are acquired;
determining a second heading angle of the vehicle based on the at least two positioning data;
and determining the target course angle of the vehicle according to the first course angle and the second course angle.
2. The method of claim 1, wherein determining the target heading angle for the vehicle based on the first heading angle and the second heading angle comprises:
allocating a first confidence coefficient to the first course angle and allocating a second confidence coefficient to the second course angle;
determining a product of the first heading angle and the first confidence level and determining a product of the second heading angle and the second confidence level;
determining the sum of the two determined products as a target heading angle of the vehicle.
3. The method of claim 2, wherein assigning a first confidence to the first heading angle and a second confidence to the second heading angle comprises:
determining signal strength when the at least two antenna devices correspondingly receive at least two positioning data;
assigning a second confidence corresponding to the signal strength to the second heading angle;
and allocating a first confidence coefficient to the first course angle based on the second confidence coefficient, wherein the sum of the first confidence coefficient and the second confidence coefficient is 1.
4. The method of any of claims 1-3, wherein determining a second heading angle of the vehicle based on the at least two positioning data comprises:
and determining the course angle of the at least two positioning data by using a course angle determination model to obtain the second course angle.
5. The method of any of claims 1-3, wherein determining that the vehicle is eligible for parking comprises:
when the power-off of the whole vehicle is detected, determining that the vehicle meets the parking condition; or the like, or, alternatively,
when the speed of the vehicle is detected to be smaller than a first target speed and the duration of the speed of the vehicle smaller than the first target speed is longer than a target duration, determining that the vehicle meets a parking condition;
and/or the presence of a gas in the gas,
determining that the vehicle meets a launch condition, comprising:
when the whole vehicle is detected to be powered on, determining that the vehicle meets a starting condition; or the like, or, alternatively,
determining that the vehicle meets a starting condition upon detecting that the speed of the vehicle reaches a second target speed.
6. The method according to any one of claims 1-3, wherein after obtaining the first heading angle information of the vehicle, the method further comprises:
storing the first heading information to a target storage area in the vehicle;
and/or the presence of a gas in the gas,
after determining that the vehicle meets the launch conditions, the method further comprises:
detecting whether a navigation instruction is received;
when a navigation instruction is detected, at least two positioning data correspondingly received by at least two antenna devices of the vehicle are acquired.
7. A heading angle determining apparatus, the apparatus comprising:
the vehicle control device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring a first course angle of a vehicle when the vehicle is determined to accord with a parking condition;
the second acquisition unit is used for acquiring at least two positioning data correspondingly received by at least two antenna devices of the vehicle when the vehicle is determined to accord with the starting condition;
a first determining unit, configured to determine a second heading angle of the vehicle based on the at least two positioning data;
and the second determining unit is used for determining the target course angle of the vehicle according to the first course angle and the second course angle.
8. A controller, comprising:
a memory for storing a computer program;
a processor for implementing the method of determining a heading angle as claimed in any one of claims 1 to 6 when executing the computer program.
9. A vehicle, characterized by comprising: a vehicle main body; the controller of claim 8 disposed on the vehicle body.
10. A computer-readable storage medium, comprising a stored program, wherein the program, when executed, controls an apparatus in which the storage medium is located to perform the heading angle determination method of any one of claims 1 to 6.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210343690.5A CN114684198A (en) | 2022-04-02 | 2022-04-02 | Course angle determining method and device, controller and vehicle |
| PCT/CN2022/115689 WO2023184846A1 (en) | 2022-04-02 | 2022-08-30 | Course angle determination method and apparatus, controller, and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210343690.5A CN114684198A (en) | 2022-04-02 | 2022-04-02 | Course angle determining method and device, controller and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114684198A true CN114684198A (en) | 2022-07-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210343690.5A Pending CN114684198A (en) | 2022-04-02 | 2022-04-02 | Course angle determining method and device, controller and vehicle |
Country Status (2)
| Country | Link |
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| CN (1) | CN114684198A (en) |
| WO (1) | WO2023184846A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023184846A1 (en) * | 2022-04-02 | 2023-10-05 | 合众新能源汽车股份有限公司 | Course angle determination method and apparatus, controller, and vehicle |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11525688B2 (en) * | 2017-12-15 | 2022-12-13 | Samsung Electronics Co., Ltd. | Method and apparatus for determining object position |
| CN110798792B (en) * | 2019-01-25 | 2021-04-13 | 长城汽车股份有限公司 | Vehicle positioning device, vehicle positioning system and vehicle |
| CN111426332B (en) * | 2020-02-18 | 2022-07-19 | 北京三快在线科技有限公司 | Course installation error determination method and device, electronic equipment and storage medium |
| CN113109783B (en) * | 2021-04-15 | 2022-08-26 | 森思泰克河北科技有限公司 | Course angle acquisition method, device, equipment and storage medium |
| CN113587938B (en) * | 2021-09-28 | 2022-01-04 | 智道网联科技(北京)有限公司 | Vehicle positioning method and device and storage medium |
| CN113799770B (en) * | 2021-10-28 | 2023-03-31 | 广州小鹏自动驾驶科技有限公司 | Data processing method and device based on automatic driving |
| CN114684198A (en) * | 2022-04-02 | 2022-07-01 | 合众新能源汽车有限公司 | Course angle determining method and device, controller and vehicle |
-
2022
- 2022-04-02 CN CN202210343690.5A patent/CN114684198A/en active Pending
- 2022-08-30 WO PCT/CN2022/115689 patent/WO2023184846A1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023184846A1 (en) * | 2022-04-02 | 2023-10-05 | 合众新能源汽车股份有限公司 | Course angle determination method and apparatus, controller, and vehicle |
Also Published As
| Publication number | Publication date |
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| WO2023184846A1 (en) | 2023-10-05 |
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