CN109649489B - Vehicle steering state identification method and device, electronic equipment and storage medium - Google Patents
Vehicle steering state identification method and device, electronic equipment and storage medium Download PDFInfo
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- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
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Abstract
The invention provides a method and a device for identifying a vehicle steering state, electronic equipment and a storage medium, which are used for identifying the turning and/or turning-around behavior of a vehicle in the driving process of the vehicle. The method comprises the following steps: acquiring historical course angle data, wherein the historical course angle data comprises course angles corresponding to a plurality of sampling positions selected according to a preset rule, the course angles comprise course angles corresponding to sampling positions closest to the current position of the vehicle, and the sampling positions are selected according to mileage intervals meeting the preset rule; and determining whether the vehicle has the driving direction change or not according to the historical course angle data. Through the scheme, the accurate identification of the vehicle steering state based on the vehicle course angle is realized.
Description
Technical Field
The invention relates to the technical field of intelligent vehicles, in particular to a method and a device for identifying a vehicle steering state, electronic equipment and a storage medium.
Background
In recent years, smart vehicle technology has become a hot spot for research in the world vehicle engineering field. The intelligent vehicle technology is characterized in that devices such as a sensor, a controller and an actuator are added in a common vehicle, so that the vehicle has environment sensing capability, and the driving safety and dangerous states of the vehicle can be automatically analyzed, so that the purposes of driving assistance and automatic driving are achieved.
Obviously, in the field of smart vehicle technology, for the purpose of driving assistance and automatic driving, a smart vehicle must be able to recognize a vehicle steering state including turning and turning around. Therefore, a method of accurately recognizing turning and u-turn behaviors of the vehicle is indispensable.
A current vehicle turning recognition method is to collect GPS position points of continuous time intervals by using GPS positioning signals and judge turning angles based on the position points, and the method has the defects that the precision of GPS positioning is limited, and when the vehicle running speed is low, the distance between the collected GPS position points of the continuous time intervals is small, so that the GPS positioning error has large influence and false steering recognition is easily caused. Therefore, the accuracy of turn recognition using GPS positioning signals sampled at successive time intervals is poor.
The other existing vehicle turning identification method is to judge turning according to the steering wheel turning angle, and the method is difficult to identify the curve with larger turning radius of the vehicle and is easy to identify by mistake when the vehicle changes lanes and turns around in multiple directions.
Disclosure of Invention
Based on the defects of the prior art, the invention provides a method and a device for identifying a vehicle steering state, an electronic device and a storage medium, so as to realize accurate identification of the vehicle steering state.
To solve the above problems, the following solutions are proposed:
the invention discloses a method for identifying the steering state of a vehicle in a first aspect, which comprises the following steps:
acquiring historical course angle data; the historical course angle data comprises vehicle course angles corresponding to a plurality of sampling positions, wherein the plurality of sampling positions at least comprise the sampling position closest to the current position of the vehicle, and the sampling position is obtained by dividing the running path of the vehicle according to the mileage interval meeting the preset rule;
and identifying the steering state of the vehicle according to the historical course angle data.
Optionally, the identifying the steering state of the vehicle according to the historical heading angle data includes:
calculating differences between the first course angle and each second course angle one by one to obtain a difference value group; the first course angle is a course angle corresponding to a sampling position closest to the current position of the vehicle, and the second course angle is a course angle except the first course angle in the historical course angle data;
identifying a steering state of the vehicle based on the set of difference values.
Optionally, the identifying the steering state of the vehicle according to the difference value group includes:
acquiring the absolute value of the difference value with the largest absolute value in the difference value group;
comparing the absolute value of the difference value with a preset first threshold value and a preset second threshold value respectively to obtain a comparison result; wherein the second threshold is greater than the first threshold;
if the absolute value of the difference is greater than or equal to the second threshold, identifying that the vehicle is turning around; and if the absolute value of the difference value is greater than or equal to the first threshold value and less than the second threshold value, identifying that the vehicle turns.
Optionally, if the absolute value of the difference is greater than or equal to the first threshold and smaller than the second threshold, identifying that the vehicle is turning, further includes:
if the difference value corresponding to the absolute value of the difference value is positive, identifying that the vehicle turns left;
and if the difference value corresponding to the absolute value of the difference value is negative, identifying that the vehicle turns to the right.
Optionally, the heading angle corresponding to the sampling position is calculated according to the yaw rate of the vehicle and the time taken for the vehicle to reach the sampling position.
A second aspect of the present invention discloses a device for identifying a steering state of a vehicle, comprising:
the historical course angle acquisition unit is used for acquiring historical course angle data; the historical course angle data comprises vehicle course angles corresponding to a plurality of sampling positions, wherein the plurality of sampling positions at least comprise the sampling position closest to the current position of the vehicle, and the sampling position is obtained by dividing the running path of the vehicle according to the mileage interval meeting the preset rule;
and the steering state identification unit is used for identifying the steering state of the vehicle according to the historical course angle data.
Optionally, the steering state identification unit includes:
the difference group calculating unit is used for calculating the difference between the first course angle and each second course angle one by one to obtain a difference group; the first course angle is a course angle corresponding to a sampling position closest to the current position of the vehicle, and the second course angle is a course angle except the first course angle in the historical course angle data;
a sub-identification unit configured to identify a steering state of the vehicle based on the difference value group.
Optionally, the sub-identification unit includes:
an absolute value acquisition unit configured to acquire an absolute value of a difference value having a largest absolute value among the difference value groups;
the absolute value comparison unit is used for comparing the absolute value of the difference value with a preset first threshold value and a preset second threshold value respectively to obtain a comparison result; wherein the second threshold is greater than the first threshold;
a turning-around recognition unit which recognizes that the vehicle is turning around if the absolute value of the difference is greater than or equal to the second threshold;
and a turn recognition unit that recognizes that the vehicle is turning if the absolute value of the difference is greater than or equal to the first threshold and less than the second threshold.
A third aspect of the invention discloses an electronic device comprising a processor and a memory; wherein:
the memory is to store computer instructions;
the processor is configured to execute the computer instructions stored in the memory, and in particular, to execute the method for identifying a steering state of a vehicle as disclosed in any one of the first aspect of the present invention.
A fourth aspect of the present invention discloses a storage medium storing a program for implementing the method for identifying a steering state of a vehicle as disclosed in any one of the first aspects of the present invention described above when the program is executed.
The method, the device, the server and the storage medium for identifying the vehicle steering state select the course angles of a plurality of sampling positions on a vehicle running path, judge whether the vehicle has running direction change or not based on the course angles, and finish accurate identification of the vehicle steering state. According to the invention, the identification of the vehicle steering state is realized according to the course angle change of the sampling position, so that the problem of low identification accuracy caused by low GPS signal precision when the turning identification is carried out based on the GPS signal can be solved, and the accurate identification of the vehicle steering state under various complex working conditions is realized.
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 described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of a method for identifying a turning state of a vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for identifying a turning state of a vehicle according to another embodiment of the present disclosure;
FIG. 3 is a flowchart of a method for calculating and recording a heading angle for each sample location of a vehicle as disclosed in another embodiment of the invention;
FIG. 4 is a schematic view of a vehicle steering state recognition apparatus according to another embodiment of the present invention;
FIG. 5 is a schematic view of a vehicle steering state recognition apparatus according to another embodiment of the present invention;
fig. 6 is a schematic diagram of an electronic device disclosed in another embodiment of the invention.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
The embodiment of the invention provides a method for identifying a vehicle steering state, and with reference to fig. 1, the method comprises the following steps:
s101, obtaining historical course angle data.
It should be noted that the historical heading angle data includes vehicle heading angles corresponding to a plurality of sampling positions, and the plurality of sampling positions at least include a sampling position closest to the current position of the vehicle. The sampling position is obtained by dividing the driving path of the vehicle according to the mileage interval meeting the preset rule.
Optionally, the historical heading angle data includes vehicle heading angles corresponding to a plurality of sampling positions, which can be generally understood as vehicle heading angles corresponding to at least three sampling positions. Of course, if the historical heading angle data includes less than three, such as two, or even one, vehicle heading angles in the initial state, it is understood that the historical heading angle data falls within the scope of the solution set forth in this step.
And S102, identifying the steering state of the vehicle according to the historical course angle data.
It should be noted that the steering state of the vehicle includes that the vehicle turns left, the vehicle turns right, and the vehicle turns around.
It should be noted that the heading angle corresponding to the sampling position is calculated according to the yaw rate of the vehicle and the time taken for the vehicle to reach the sampling position.
According to the method for identifying the vehicle steering state, the driving direction is identified according to the course angle change of the sampling position, so that the problem of low identification accuracy caused by low GPS signal precision when turning identification is carried out based on the GPS signal can be solved, and the vehicle steering state can be accurately identified under various complex working conditions.
The embodiment of the invention also provides a method for identifying the steering state of the vehicle, and with reference to fig. 2, the method comprises the following steps:
s201, obtaining historical course angle data from a course information table.
It should be noted that, the heading information table records heading angles corresponding to all sampling positions of the vehicle. The sampling position is obtained by dividing the driving path of the vehicle according to the mileage interval meeting the preset rule. The step of obtaining historical course angle data from the course information table refers to obtaining the course angle corresponding to all or part of the sampling positions from the course information table according to the following rule.
The rule for acquiring the historical course angle from the course information table is as follows: and when the number M of the course angles recorded in the course information table is less than or equal to N, acquiring all the course angles recorded in the course information table as historical course angle data, and when the number of the course angles recorded in the course information table is more than N, selecting the course angles of the N sampling positions from near to far according to the distance between the sampling position corresponding to the course angle and the current position of the vehicle.
The current position of the vehicle is the position of the vehicle when the method is started. The N is a preset positive integer, and may be generally set to be a positive integer greater than 10 and less than 20, but may also be set to be a positive integer outside the above range according to practical situations. Said M is also a positive integer.
Optionally, the heading information table may record the heading angle in any one or a combination of the following two ways, so as to meet the requirement of obtaining the historical heading angle data according to the above rule.
The first way is that when recording the course angle of any sampling position, the distance that the vehicle travels from the initial position, that is, the position at the time of starting, to the sampling position is correspondingly recorded, and obviously, for any course angle, the larger the corresponding distance is, the closer the sampling position corresponding to the course angle is to the current position of the vehicle is, so that according to the size of the distance corresponding to the course angle, N course angles are selected from large to small as historical course angle data.
It should be noted that, in order to adopt the above-mentioned manner of obtaining the historical heading angle data, a method of calculating the heading angle of each sampling position and recording the heading angle without clearing the travel distance should be used.
The second way is that when recording the course angle, the index is distributed according to the recorded sequence, i.e. the first recorded course angle is recorded as thetap(1) And then recording the course angle in sequenceθp(2)，θp(3) … …, obviously, in the heading information table, the heading angle with the largest index is the latest recorded heading angle, that is, the heading angle corresponding to the sampling position closest to the current position of the vehicle is set as thetap(i) For the current maximum course angle in the course information table, further according to the rule of obtaining the historical course angle data, only selecting theta in the course information tablep(i-N +1) to θp(i) And N heading angles are all needed.
S202, calculating the difference value between the first course angle and each second course angle in the historical course angle data one by one to obtain a difference value group.
It should be noted that the first heading angle is a heading angle corresponding to a sampling position closest to the current position of the vehicle, and the second heading angle is a heading angle in the historical heading angle data except for the first heading angle.
The following description is made with reference to a specific example, where the preset N is 15, the course information table records the course angle in the second manner, and if 30 course angles are recorded in the course information table during one-time execution of the method, θ is obtained from the course information table according to the rule for obtaining the historical course angle datap(16) To thetap(30) A total of 15 course angles as historical course angle data, where θp(30) Is the current maximum course angle in the course information table, namely the first course angle, from thetap(16) To thetap(29) The total of 14 course angles are all second course angles, and theta is calculated one by one based on the following formulap(30) And obtaining a difference group comprising 14 differences delta theta (j) from the other 14 second heading angles, wherein j is a positive integer less than or equal to 14.
Δθ(j)＝θp(30)-θp(30-j)
S203, obtaining the absolute value of the difference value with the maximum absolute value in the difference value group.
In connection with the example of step S202, the absolute values of 14 differences in the set of differences may be calculated, so as to select the maximum value from the 14 obtained absolute values.
And S204, comparing the absolute value of the difference value with a preset first threshold value and a preset second threshold value respectively to obtain a comparison result.
It should be noted that the second threshold is greater than the first threshold.
The first threshold is a threshold for vehicle turning judgment generated by calibration, and is denoted as Th1, and may be generally set to 70 °, or may be adaptively modified according to actual use conditions. The second threshold is a threshold which is generated by calibration and used for judging the turning around of the vehicle, is recorded as Th2, can be generally 150 degrees, and can also be adaptively modified according to the actual use condition.
S205, if the absolute value of the difference is larger than or equal to the second threshold, recognizing that the vehicle turns around; and if the absolute value of the difference value is greater than or equal to the first threshold value and less than the second threshold value, identifying that the vehicle turns.
Specifically, the first threshold may be set to 70 °, the second threshold may be set to 150 °, if the maximum absolute value obtained in step S203 is greater than or equal to 70 ° and less than 150 °, it is recognized that the vehicle is turning, and if the absolute value is greater than or equal to 150 °, it is recognized that the vehicle is turning around.
It should be noted that, the setting of the first threshold and the second threshold may be adjusted within a certain range according to the actual use condition, in general, the value of the first threshold may be adjusted within a range of 60 ° to 80 °, and the value of the second threshold may be adjusted within a range of 140 ° to 160 °.
Optionally, in step S205, after the vehicle is identified to be turning, the turning direction may be further identified according to the positive or negative of the difference value corresponding to the maximum absolute value. If the corresponding difference is positive, it is identified that the vehicle is turning to the left, and if the corresponding difference is negative, it is identified that the vehicle is turning to the right.
The determination of the turning direction of the vehicle is performed based on the predetermined positive and negative yaw rates. The yaw rate when the vehicle turns left is generally defined as positive, and the corresponding yaw rate when the vehicle turns right is defined as negative, so it can be recognized that the vehicle is turning left when the difference is positive, and that the vehicle is turning right when the difference is negative.
Further, if the positive and negative yaw rates are defined such that the yaw rate is negative when the vehicle turns left and the yaw rate is positive when the vehicle turns right, the determination of the turning direction of the vehicle should be adjusted such that the vehicle is recognized to turn left when the difference is negative and the vehicle is recognized to turn right when the difference is positive.
It should be noted that, in steps S203 to S205, the turning state of the vehicle is recognized according to the difference set. Further, the identifying the turning recognition state of the vehicle according to the difference group may be further implemented in the following manner:
comparing the absolute values of the differences in the difference value groups with the first threshold value and the second threshold value one by one, and if the absolute values of the differences in the difference value groups are greater than or equal to the second threshold value in the comparison process, recognizing that the vehicle turns around; if the absolute value which is smaller than the second threshold and larger than or equal to the first threshold appears in the comparison process, and the absolute value which is larger than or equal to the second threshold does not appear after the comparison is finished, the positive and negative of the difference value corresponding to the absolute value which is larger than or equal to the first threshold and smaller than the second threshold are judged, if the difference value is positive, the vehicle is identified to turn left, and if the difference value is negative, the vehicle is identified to turn right.
The determination of the turning direction of the vehicle is performed based on the predetermined positive and negative yaw rates. The yaw rate when the vehicle turns left is generally defined as positive, and the corresponding yaw rate when the vehicle turns right is defined as negative, so it can be recognized that the vehicle is turning left when the difference is positive, and that the vehicle is turning right when the difference is negative.
It should be noted that, in the heading information table described in step S201, the heading angle of each sampling position that the vehicle has traveled through is recorded. The heading angle for any one of the sample locations is calculated based on the yaw rate of the vehicle and the time it takes for the vehicle to travel from the starting location to that sample location. Therefore, the embodiment of the present invention provides a method for calculating the heading angle of a certain sampling position according to the yaw rate of the vehicle and the time taken for the vehicle to travel from the starting position to the sampling position and recording the heading angle, which is used in conjunction with the method for identifying the steering state of the vehicle provided by the above embodiment of the present invention, please refer to fig. 3.
It should be understood by those skilled in the art that the method for identifying a turning state of a vehicle provided by the embodiment of the present invention does not depend on the method for calculating and recording a heading angle to be described, that is, a new embodiment obtained by combining other methods for calculating and recording heading angles of a plurality of sampling positions with the method for identifying a turning state of a vehicle provided by the embodiment of the present invention is also within the scope of the present invention.
S301, when the vehicle is started, initializing the vehicle running distance and the vehicle course angle.
The driving distance can be recorded as S, the vehicle heading angle can be recorded as theta, and initializing the driving distance S and the heading angle theta means setting S and theta as 0.
S302, after waiting for a preset sampling interval time T, sampling the current running speed and the current yaw rate of the vehicle for one time.
The running speed and the yaw rate are measured by sensors of the vehicle.
The sampling interval time T is set within a certain range according to sampling accuracy requirements, and may generally take a value less than 1s, for example, T may be set to 20 ms.
And S303, calculating the current running distance of the vehicle according to the running speed, and calculating the current heading angle of the vehicle according to the yaw angular speed.
The method for calculating the current running distance of the vehicle according to the running speed specifically comprises the following steps: the driving distance initially obtained when the vehicle is started is recorded as S (0), the driving speed sampled at the k-th time after the vehicle is started is recorded as v (k), and the driving distance at the k-th time is recorded as S (k), and the driving speed of the vehicle in the period of time can be considered to be unchanged due to the short sampling interval time T, that is, the vehicle can be considered to have driven the distance of v (k) T between the last sampling and the current sampling, so the driving distance of the vehicle at the k-th sampling can be calculated by the following formula:
S(k)＝S(k-1)+v(k)*T
based on the above formula, the travel distance S (1) at the time of the first sampling is S (0) + v (1) × T, and so on, and the travel distance at any one sampling can be calculated from the travel distance at the time of the previous sampling and the travel speed v (k) obtained by the current sampling.
The method for calculating the current heading angle of the vehicle according to the yaw velocity is similar to the method for calculating the current running distance of the vehicle according to the running speed, the initialized heading angle is recorded as theta (0), the k-th sampled yaw velocity after the vehicle is started is recorded as omega (k), the heading angle of the vehicle at the k-th sampling is recorded as theta (k), and the following formula for calculating the heading angle theta (k) is obtained on the basis of the assumption that the yaw velocity is not changed within the sampling interval time T:
θ(k)＝θ(k-1)+ω(k)*T
based on the above formula, the course angle θ (1) at the first sampling is θ (0) + ω (1) × T, and so on, and the course angle at any one sampling can be calculated according to the course angle at the last sampling and the yaw angular velocity ω (k) obtained at the current sampling.
It should be noted that, after the driving distance and the heading angle of the vehicle during the current sampling are calculated, the driving distance and the heading angle of the vehicle during the last sampling can be retained.
S304, judging whether the running distance S (k) of the vehicle obtained by the current sampling is smaller than the mileage interval d, if so, returning to the step S302, and if the running distance S (k) obtained by the current sampling is larger than or equal to the mileage interval d, executing the step S305.
And if the driving distance of the vehicle is greater than or equal to the mileage interval d during the kth sampling, the position of the vehicle during the sampling is called a sampling position.
It should be noted that the mileage interval d may be a constant preset according to experience, and may be usually set within a range of greater than or equal to 5m and less than or equal to 10m, or may be adjusted according to a preset rule according to an average speed of the vehicle over a period of time. For example, the average speed of the vehicle in the latest 1s is V (kph), and the mileage interval can be calculated from a relationship between the mileage interval d and the average speed V set in advance as shown below.
d＝5+(V-10)*5/90
It should be noted that the above expression is a specific example of the many possible relationships between the mileage interval d and the average speed V. In addition to the above expression, any other expression that positively correlates the mileage interval d with the average speed V, that is, an expression that increases d with an increase in V and decreases with a decrease in V, may be used to calculate the mileage interval d.
S305, recording the vehicle heading angle theta (k) obtained by the current sampling in the navigation information table, setting the running distance S (k) of the vehicle obtained by the current sampling as 0, and returning to the step S302.
The process as described in steps S304 and S305 aims at recording the heading angle of each sampled position of the vehicle.
It should be noted that, the above method for calculating and recording the heading angle of each sampling position may also be considered as a method for dividing the driving path of the vehicle according to the mileage interval d to obtain sampling positions and recording the heading angle of each sampling position.
It should be noted that, in the above steps S301 to S305, the driving distance is cleared by each preset mileage interval, so as to calculate the heading angle of each sampling position and record the heading angle. Further, by replacing the step S304 with the step S3041 described below and replacing the step S305 with the step S3051 described below, a method for calculating a heading angle of each sampling position without clearing the travel distance and recording the heading angle can be obtained.
S3041, determining whether the absolute value of the difference between the driving distance S (k) of the vehicle obtained by the current sampling and the driving distance of the closest sampling position is less than the mileage interval d, if so, returning to step S302, and if not, executing step S3051.
S3051, recording the vehicle heading angle theta (k) obtained by sampling this time and the running distance S (k) of the vehicle obtained by sampling this time in an aviation direction information table, and returning to the step S302.
It should be noted that the position where the vehicle is located when the condition of step S3041 is satisfied may be regarded as a sampling position.
The method for identifying the steering state of the vehicle and the matched method for calculating and recording the course angle of each sampling position provided by the embodiment of the invention sample the running speed and the yaw speed of the vehicle at intervals of a preset time interval, calculate the course angle of the vehicle at each sampling position according to the sampling result, record the course angle in a course information table, and identify the steering state of the vehicle according to historical course angle data acquired from the course information table. The running speed and the yaw rate of the vehicle can be measured by using a sensor carried by the vehicle, so that the vehicle steering state identification method provided by the embodiment of the invention is independent of an external GPS positioning signal, the problem of low identification accuracy caused by low GPS signal precision in the existing technology for identifying the turning based on the GPS signal is solved, and the accurate identification of the vehicle steering state under various complex working conditions is realized.
An embodiment of the present invention provides an apparatus for identifying a steering state of a vehicle, as shown in fig. 4, the apparatus includes:
a historical heading angle obtaining unit 401, configured to obtain historical heading angle data; the historical course angle data comprises vehicle course angles corresponding to a plurality of sampling positions, the plurality of sampling positions at least comprise sampling positions closest to the current position of the vehicle, and the sampling positions are positions obtained by dividing the running path of the vehicle according to mileage intervals meeting a preset rule;
and a steering state identification unit 402, configured to identify a steering state of the vehicle according to the historical heading angle data.
Optionally, the steering state identifying unit 402 includes:
the difference group calculating unit is used for calculating the difference between the first course angle and each second course angle one by one to obtain a difference group; the first course angle is a course angle corresponding to a sampling position closest to the current position of the vehicle, and the second course angle is a course angle except the first course angle in the historical course angle data;
a sub-identification unit configured to identify a steering state of the vehicle based on the difference value group.
Optionally, as shown in fig. 5, the sub-recognition unit includes:
an absolute value obtaining unit 501, configured to obtain an absolute value of a difference value with a largest absolute value in the difference value groups;
an absolute value comparison unit 502, configured to compare the absolute value of the difference with a preset first threshold and a preset second threshold, respectively, to obtain a comparison result; wherein the second threshold is greater than the first threshold;
a u-turn recognition unit 503, configured to recognize that the vehicle is turning around if the absolute value of the difference is greater than or equal to the second threshold;
a turn recognition unit 504 configured to recognize that the vehicle is turning if the absolute value of the difference is greater than or equal to the first threshold and less than the second threshold.
Optionally, after recognizing that the vehicle turns, the turning recognition unit may be further configured to determine whether the difference is positive or negative, and recognize a turning direction of the vehicle according to the positive or negative difference, if the difference is positive, recognize that the vehicle turns to the left, and if the difference is negative, recognize that the vehicle turns to the right.
The determination of the turning direction of the vehicle is performed based on the predetermined positive and negative yaw rates. The yaw rate when the vehicle turns left is generally defined as positive, and the corresponding yaw rate when the vehicle turns right is defined as negative, so it can be recognized that the vehicle is turning left when the difference is positive, and that the vehicle is turning right when the difference is negative.
Further, if the positive and negative yaw rates are defined such that the yaw rate is negative when the vehicle turns left and the yaw rate is positive when the vehicle turns right, the determination of the turning direction of the vehicle should be adjusted such that the vehicle is recognized to turn left when the difference is negative and the vehicle is recognized to turn right when the difference is positive.
The working process of each unit in the device disclosed by each embodiment of the invention is the same as that of the vehicle steering state identification method provided by the embodiment of the invention, and the detailed description is omitted here.
The vehicle steering state identification device provided by the embodiment of the invention identifies the steering state of the vehicle through the steering state identification unit based on the course angles of the vehicle at a plurality of sampling positions in historical course angle data, thereby solving the problem of low identification accuracy caused by low GPS positioning precision in the existing vehicle turning identification technology based on GPS positioning signals and realizing accurate identification of the vehicle steering state under various complex working conditions.
An embodiment of the present invention further provides an electronic device, as shown in fig. 6, including a processor 601 and a memory 602, where:
the memory is to store computer instructions;
the processor is used for executing the computer instructions stored in the memory, and particularly executing the method for identifying the steering state of the vehicle provided by any embodiment of the invention.
Embodiments of the present invention further provide a storage medium for storing a program, where the program is executed to implement the method for identifying a steering state of a vehicle according to any one of the embodiments of the present invention.
Those skilled in the art can make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A method for identifying a steering state of a vehicle, comprising:
acquiring historical course angle data; the historical course angle data comprises vehicle course angles corresponding to a plurality of sampling positions, wherein the plurality of sampling positions at least comprise the sampling position closest to the current position of the vehicle, and the sampling position is obtained by dividing the running path of the vehicle according to the mileage interval meeting the preset rule;
identifying the steering state of the vehicle according to the historical course angle data;
wherein, according to the historical course angle data, identifying the steering state of the vehicle comprises:
calculating differences between the first course angle and each second course angle one by one to obtain a difference value group; the first course angle is a course angle corresponding to a sampling position closest to the current position of the vehicle, and the second course angle is a course angle except the first course angle in the historical course angle data;
identifying a steering state of the vehicle based on the set of difference values.
2. The method of claim 1, wherein said identifying a steering state of said vehicle based on said set of difference values comprises:
acquiring the absolute value of the difference value with the largest absolute value in the difference value group;
comparing the absolute value of the difference value with a preset first threshold value and a preset second threshold value respectively to obtain a comparison result; wherein the second threshold is greater than the first threshold;
if the absolute value of the difference is greater than or equal to the second threshold, identifying that the vehicle is turning around; and if the absolute value of the difference value is greater than or equal to the first threshold value and less than the second threshold value, identifying that the vehicle turns.
3. The method of claim 2, wherein identifying that the vehicle is after turning if the absolute value of the difference is greater than or equal to the first threshold and less than the second threshold further comprises:
if the difference value corresponding to the absolute value of the difference value is positive, identifying that the vehicle turns left;
and if the difference value corresponding to the absolute value of the difference value is negative, identifying that the vehicle turns to the right.
4. The method of claim 1, wherein the heading angle associated with the sampling location is calculated based on a yaw rate of the vehicle and a time taken for the vehicle to reach the sampling location.
5. An apparatus for recognizing a steering state of a vehicle, comprising:
the historical course angle acquisition unit is used for acquiring historical course angle data; the historical course angle data comprises vehicle course angles corresponding to a plurality of sampling positions, wherein the plurality of sampling positions at least comprise the sampling position closest to the current position of the vehicle, and the sampling position is obtained by dividing the running path of the vehicle according to the mileage interval meeting the preset rule;
the steering state identification unit is used for identifying the steering state of the vehicle according to the historical course angle data;
wherein the steering state identifying unit includes:
the difference group calculating unit is used for calculating the difference between the first course angle and each second course angle one by one to obtain a difference group; the first course angle is a course angle corresponding to a sampling position closest to the current position of the vehicle, and the second course angle is a course angle except the first course angle in the historical course angle data;
a sub-identification unit configured to identify a steering state of the vehicle based on the difference value group.
6. The apparatus of claim 5, wherein the sub-identification unit comprises:
an absolute value acquisition unit configured to acquire an absolute value of a difference value having a largest absolute value among the difference value groups;
the absolute value comparison unit is used for comparing the absolute value of the difference value with a preset first threshold value and a preset second threshold value respectively to obtain a comparison result; wherein the second threshold is greater than the first threshold;
a turning-around recognition unit configured to recognize that the vehicle is turning around if the absolute value of the difference is greater than or equal to the second threshold;
and the turning recognition unit is used for recognizing that the vehicle turns if the absolute value of the difference value is greater than or equal to the first threshold value and smaller than the second threshold value.
7. An electronic device comprising a processor and a memory; wherein:
the memory is to store computer instructions;
the processor is used for executing the computer instructions stored in the memory, and particularly executing the identification method of the vehicle steering state according to any one of claims 1 to 4.
8. A storage medium characterized by storing a program for implementing the identification method of the vehicle steering state according to any one of claims 1 to 4 when executed.
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