CN110174892B - Vehicle orientation processing method, device, equipment and computer readable storage medium - Google Patents
Vehicle orientation processing method, device, equipment and computer readable storage medium Download PDFInfo
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Abstract
The invention provides a vehicle orientation processing method, a vehicle orientation processing device, vehicle orientation processing equipment and a computer readable storage medium. The embodiment of the invention obtains the real-time vehicle orientation parameters of the vehicle in the designated area, further utilizes the mapping parameters of the vehicle orientation of the vehicle to the lane orientation of the road in the electronic map matched with the designated area, processing the real-time vehicle orientation parameters of the vehicle so that the vehicle orientation parameters can be processed according to the electronic map and the processed real-time vehicle orientation parameters of the vehicle, performing automatic travel control processing on the vehicle by adjusting the orientation of the vehicle within a specified area to coincide with the lane orientation of a road in an electronic map that matches the specified area, so that the electronic map of other area similar to the designated area can be migrated to the designated area as an important basis for automatic driving, therefore, automatic running of the automatic driving vehicle in a closed test field without an electronic map is realized.
Description
[ technical field ] A
The present invention relates to an automatic driving technology, and in particular, to a method, an apparatus, a device, and a computer-readable storage medium for processing a vehicle heading.
[ background ] A method for producing a semiconductor device
At present, with the improvement of the living standard of people, vehicles such as cars become main transportation tools of people, and the intellectualization of the vehicles, such as automatic driving vehicles, also makes the travel more simple. The existing automatic driving technology depends on an electronic map, and if the electronic map of a certain area cannot be acquired, automatic driving of a vehicle in the area cannot be realized. Therefore, road tests for autonomous vehicles need to be performed in areas with electronic maps. Generally, an area with an electronic map is a traffic area where a real road is located, and due to the fact that traffic flows on the real road are many, various problems may be encountered, so that road tests of automatic driving vehicles cannot be performed on the real road, and therefore road tests of automatic driving vehicles in some open and unmanned closed test sites are a good choice.
However, not all closed test sites have electronic maps, and therefore, a vehicle orientation processing method is continuously provided to realize automatic travel of an autonomous vehicle in a closed test site without an electronic map.
[ summary of the invention ]
Aspects of the present invention provide a method, an apparatus, a device and a computer readable storage medium for processing a vehicle orientation, so as to implement automatic driving of an autonomous vehicle in a closed test site without an electronic map.
In one aspect of the present invention, a method for processing a vehicle orientation is provided, including:
acquiring real-time vehicle orientation parameters of vehicles in a designated area;
processing the real-time vehicle orientation parameters of the vehicle by using the mapping parameters of the vehicle orientation of the vehicle to the lane orientation of the road in the electronic map; the electronic map is matched with the designated area;
and carrying out automatic running control processing on the vehicle according to the electronic map and the processed real-time vehicle orientation parameters of the vehicle.
In another aspect of the present invention, there is provided a processing apparatus for vehicle orientation, including:
the acquiring unit is used for acquiring real-time vehicle orientation parameters of vehicles in the designated area;
the adjusting unit is used for processing the real-time vehicle orientation parameters of the vehicle by utilizing the mapping parameters of the vehicle orientation of the vehicle to the lane orientation of the road in the electronic map; the electronic map is matched with the designated area;
and the control unit is used for carrying out automatic running control processing on the vehicle according to the electronic map and the processed real-time vehicle orientation parameters of the vehicle.
In another aspect of the present invention, there is provided an apparatus comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, the one or more programs cause the one or more processors to implement a method of processing vehicle orientation as provided in an aspect above.
In another aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of processing vehicle orientation as provided in the above aspect.
According to the technical scheme, the embodiment of the invention obtains the real-time vehicle orientation parameters of the vehicles in the designated area, thereby using the mapping parameter of the vehicle orientation of the vehicle to the lane orientation of the road in the electronic map matching the specified area, processing the real-time vehicle orientation parameters of the vehicle such that, based on the electronic map and the processed real-time vehicle orientation parameters of the vehicle, performing automatic travel control processing on the vehicle by adjusting the orientation of the vehicle within a specified area to coincide with the orientation of a lane of a road in an electronic map that matches the specified area, so that the electronic map of other area similar to the designated area can be migrated to the designated area as an important basis for automatic driving, therefore, automatic running of the automatic driving vehicle in a closed test field without an electronic map is realized.
In addition, by adopting the technical scheme provided by the invention, an electronic map of a designated area does not need to be additionally manufactured, and the electronic map matched with the designated area can be borrowed and used as an important basis for automatic driving in the designated area, so that automatic driving of the automatic driving vehicle can be carried out in a closed test site without the electronic map, and the reliability of automatic driving of the automatic driving vehicle can be effectively improved.
In addition, by adopting the technical scheme provided by the invention, an electronic map of a designated area does not need to be additionally manufactured, and the adaptability and the flexibility of automatic driving of the automatic driving vehicle can be effectively improved.
In addition, by adopting the technical scheme provided by the invention, the user experience can be effectively improved.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without inventive labor.
FIG. 1 is a flow chart illustrating a method for processing vehicle orientation according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a processing device for vehicle orientation according to another embodiment of the present invention;
FIG. 3 is a block diagram of an exemplary computer system/server 12 suitable for use in implementing embodiments of the present invention.
[ detailed description ] embodiments
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 obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that the terminal according to the embodiment of the present invention may include, but is not limited to, a mobile phone, a Personal Digital Assistant (PDA), a wireless handheld device, a Tablet Computer (Tablet Computer), a Personal Computer (PC), an MP3 player, an MP4 player, a wearable device (e.g., smart glasses, smart watch, smart bracelet, etc.), and the like.
In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship.
Fig. 1 is a schematic flow chart of a method for processing a vehicle heading according to an embodiment of the present invention, as shown in fig. 1.
101. And acquiring real-time vehicle orientation parameters of the vehicles in the designated area.
102. Processing the real-time vehicle orientation parameters of the vehicle by utilizing the mapping parameters of the vehicle orientation of the vehicle to the lane orientation of the road in the electronic map; the electronic map is matched with the designated area.
In the invention, since the designated area originally has no electronic map, an available electronic map needs to be matched as an electronic map for the vehicle to automatically run in the designated area. In particular, the electronic map of the other area similar to the designated area may be matched to the designated area. In this way, since the other area to which the electronic map actually belongs is similar to the designated area, the electronic map can be used as the electronic map on which the vehicle in the designated area automatically travels in the designated area.
The road on the electronic map may be a road on which the position of the vehicle in the designated area matches the position on the electronic map. The specific matching mode can be a custom matching mode. For example, in order to improve the utilization efficiency of the designated area, the designated area and another area similar to the designated area may be subjected to an alignment process, such as an edge approximate alignment, a center alignment, or a local position alignment, so that the electronic map of the other area can be sufficiently utilized within the designated area. After the edge approximate alignment process, the position of the vehicle within the specified area may then be matched to a position in the electronic map.
103. And carrying out automatic running control processing on the vehicle according to the electronic map and the processed real-time vehicle orientation parameters of the vehicle.
The so-called vehicle heading, which may refer to a heading direction of a head of the vehicle when the vehicle is stationary; in the driving process of the vehicle, the direction of the head of the vehicle can be referred to, or the driving direction of the vehicle can also be referred to.
The lane direction is a predetermined traveling direction of a lane on a road.
In general, different parameters may be employed as orientation parameters to represent the orientation of an object in the horizontal plane with respect to the true north direction, e.g., azimuth, spatial quaternion parameters, etc.
It should be noted that part or all of the execution subjects 101 to 103 may be an application located at the local terminal, or may also be a functional unit such as a plug-in or Software Development Kit (SDK) set in the application located at the local terminal, or may also be a processing engine located in a server on the network side, or may also be a distributed system located on the network side, which is not particularly limited in this embodiment.
It is to be understood that the application may be a native app (native app) installed on the terminal, or may also be a web page program (webApp) of a browser on the terminal, and this embodiment is not particularly limited thereto.
In this way, by acquiring the real-time vehicle orientation parameters of the vehicle in the designated area and further utilizing the mapping parameters of the vehicle orientation of the vehicle to the lane orientation of the road in the electronic map matched with the designated area, processing the real-time vehicle orientation parameters of the vehicle such that, based on the electronic map and the processed real-time vehicle orientation parameters of the vehicle, performing automatic travel control processing on the vehicle by adjusting the orientation of the vehicle within a specified area to coincide with the lane orientation of a road in an electronic map that matches the specified area, so that the electronic map of other areas similar to the designated area can be migrated to the designated area as an important basis for automatic driving, therefore, automatic running of the automatic driving vehicle in a closed test field without an electronic map is realized.
In the present invention, the designation of the "two-character" in the designated area is not intended to mean that the designated area is a current operation object, and therefore, the designated area is a general closed test field, and may be, for example, an empty area without a person.
Optionally, in a possible implementation manner of this embodiment, in 101, a real-time vehicle orientation parameter of the vehicle, for example, a novatel navigation product, may be obtained specifically through a hardware device on the vehicle.
In this implementation, the obtained real-time vehicle orientation parameter of the vehicle may be an azimuth angle of the vehicle at a specified time, or may also be a spatial quaternion parameter of the vehicle at the specified time, which is not particularly limited in this embodiment.
Optionally, in a possible implementation manner of this embodiment, before 102, a vehicle orientation parameter of the vehicle at the specified time and a lane orientation parameter of the road may be further obtained, so that a mapping parameter of the vehicle orientation of the vehicle to the lane orientation of the road in the electronic map may be obtained according to the vehicle orientation parameter of the vehicle at the specified time and the lane orientation parameter of the road.
In this implementation, the acquired vehicle orientation parameter of the vehicle at the specified time may be an azimuth angle of the vehicle at the specified time, or may also be a spatial quaternion parameter of the vehicle at the specified time, which is not particularly limited in this embodiment.
In this implementation, the acquired lane orientation parameter of the road may be an azimuth angle of the road, or may also be an airspace quaternion parameter of the road, which is not particularly limited in this embodiment.
The azimuth is a horizontal angle from a north arrow at a certain point to a target direction line in a clockwise direction.
Then, the azimuth angle of the vehicle at the specified time is a horizontal included angle between the north-seeking direction line of the position of the vehicle at the specified time and the direction line of the head of the vehicle at the specified time along the clockwise direction; the azimuth angle of the road is a horizontal included angle between the north-pointing direction line of any point on the road and the road direction line along the clockwise direction.
Based on the vehicle orientation parameter of the vehicle at the specified time and the different forms of the lane orientation parameter of the road, in this implementation, a plurality of different technical solutions may be adopted to obtain the mapping parameter from the vehicle orientation of the vehicle to the lane orientation of the road.
In a specific implementation process, the vehicle orientation parameter of the vehicle at a specified time is an azimuth angle of the vehicle at the specified time; the lane orientation parameter of the road is an azimuth angle of the road. At this time, the azimuth of the vehicle at the specified time may be subtracted from the azimuth of the road to obtain a mapping parameter of the orientation of the vehicle to the orientation of the road.
In the implementation process, the mapping parameter is actually an included angle, and the acquired real-time azimuth angle of the vehicle can be adjusted in real time by using the included angle. Specifically, the obtained real-time azimuth angle of the vehicle in the specified area may be added to the mapping parameter to obtain the adjusted real-time azimuth angle of the vehicle, and the real-time azimuth angle of the vehicle may be regarded as the real-time azimuth angle of the vehicle on the electronic map.
Since the original real-time azimuth angle of the vehicle is rotated, so that the orientation of the vehicle represented by the adjusted real-time azimuth angle of the vehicle is consistent with the orientation of the road in the electronic map, the vehicle can be subjected to automatic driving control processing according to the electronic map and the processed real-time azimuth angle of the vehicle.
In another specific implementation, the vehicle orientation parameter of the vehicle at a specified time is an azimuth angle of the vehicle at the specified time; and the lane orientation parameter of the road is a spatial quaternion parameter of the road. At this time, the space quaternion parameter of the road may be specifically converted to obtain the attitude angle of the road, and then the azimuth angle of the road may be obtained according to the attitude angle of the road, and then the azimuth angle of the road may be subtracted by the azimuth angle of the vehicle at the specified time, so as to obtain the mapping parameter of the direction of the vehicle to the direction of the road.
The so-called attitude angle is used to indicate the position of an object in space relative to the local horizontal coordinate system (i.e., the horizontal plane) and the true north direction. The attitude angle may consist of three angles, pitch, roll and yaw. Wherein, pitch angle (pitch) is used to represent the angle of rotation around the Y-axis, roll angle (roll) is used to represent the angle of rotation around the X-axis, and yaw angle (yaw) is used to represent the angle of rotation around the Z-axis.
In this implementation process, the spatial quaternion parameter of the road may be recorded as (w, x, y, z), and then the attitude angle of the road may be specifically calculated according to formula (1).
Where φ represents a roll angle of the road rotating about the X-axis, θ represents a pitch angle of the road rotating about the Y-axis, and ψ represents a yaw angle of the road rotating about the Z-axis.
And after the attitude angle of the road is obtained, taking the yaw angle in the attitude angle of the road as the azimuth angle of the road.
After obtaining the azimuth angle of the road, the azimuth angle of the vehicle at a specified time may be subtracted from the azimuth angle of the road with reference to the technical solution in the previous implementation process, so as to obtain a mapping parameter from the heading of the vehicle to the heading of the road.
In the implementation process, the mapping parameter is actually an included angle, and the acquired real-time azimuth angle of the vehicle can be adjusted in real time by using the included angle. Specifically, the obtained real-time azimuth angle of the vehicle in the designated area may be added to the mapping parameter to obtain the adjusted real-time azimuth angle of the vehicle, which may be regarded as the real-time azimuth angle of the vehicle on the electronic map.
Since the original real-time azimuth angle of the vehicle is rotated, so that the orientation of the vehicle represented by the adjusted real-time azimuth angle of the vehicle is consistent with the orientation of the road in the electronic map, the vehicle can be subjected to automatic driving control processing according to the electronic map and the processed real-time azimuth angle of the vehicle.
In another specific implementation process, the vehicle orientation parameter of the vehicle at a specified time is a spatial quaternion parameter of the vehicle at the specified time; and the lane orientation parameter of the road is a spatial quaternion parameter of the road. At this time, specifically, the spatial quaternion parameter of the vehicle at the specified time may be subjected to conversion processing to obtain the attitude angle of the vehicle at the specified time, and the attitude matrix of the vehicle at the specified time may be obtained according to the attitude angle of the vehicle at the specified time. Then, the spatial quaternion parameter of the road may be converted to obtain the attitude angle of the road, and the attitude matrix of the road may be obtained according to the attitude angle of the road. And then multiplying the attitude matrix of the road by the transposed matrix of the attitude matrix of the vehicle at the specified time to obtain the mapping parameter from the orientation of the vehicle to the orientation of the road.
In the implementation process, the spatial quaternion parameter of the road is converted to obtain the attitude angle of the road, and the detailed description of this operation may refer to the related contents in the previous implementation process.
In the implementation process, the spatial quaternion parameter of the road can be recorded as (w, x, y, z), and the attitude angle of the road calculated according to the formula (1) is
Where φ represents a roll angle of the road rotating about the X-axis, θ represents a pitch angle of the road rotating about the Y-axis, and ψ represents a yaw angle of the road rotating about the Z-axis.
After obtaining the attitude angle of the road, the attitude matrix DCM of the road may be calculated according to equation (2). The attitude Matrix may also be referred to as a Direction Cosine Matrix (DCM).
Similarly, the operation of performing conversion processing on the spatial quaternion parameter of the vehicle at the specified time to obtain the attitude angle of the vehicle at the specified time may also refer to the operation of performing conversion processing on the spatial quaternion parameter of the road to obtain the attitude angle of the road, which is related to the operation. And obtaining the attitude matrix of the vehicle at the specified time according to the attitude angle of the vehicle at the specified time, and the operation can also refer to obtaining the attitude matrix of the road according to the attitude angle of the road, and the relevant content of the operation.
In the implementation process, the mapping parameter is actually a transfer matrix, and the obtained real-time spatial quaternion parameter of the vehicle can be adjusted in real time by using the transfer matrix. Specifically, the real-time spatial quaternion parameters of the vehicle in the acquired specified area may be converted to obtain the real-time attitude angle of the vehicle, and further, the real-time attitude matrix of the vehicle may be obtained according to the real-time attitude angle of the vehicle. And then multiplying the mapping parameters by the real-time attitude matrix of the vehicle to obtain the adjusted real-time attitude matrix of the vehicle, wherein the real-time attitude matrix of the vehicle can be regarded as the real-time attitude matrix of the vehicle on an electronic map. And then, further according to the adjusted real-time attitude matrix of the vehicle, calculating by using the inverse operation of the formula (2) to obtain the adjusted real-time attitude angle of the vehicle, and further calculating by using the inverse operation of the formula (1) to obtain the adjusted real-time spatial quaternion parameter of the vehicle, wherein the real-time attitude matrix of the vehicle can be regarded as the real-time spatial quaternion parameter of the vehicle on an electronic map.
The original real-time space quaternion parameter of the vehicle is rotated, so that the direction of the vehicle represented by the adjusted real-time space quaternion parameter of the vehicle is consistent with the direction of a road in an electronic map, and therefore, the vehicle can be subjected to automatic driving control processing according to the electronic map and the processed real-time space quaternion parameter of the vehicle.
In another specific implementation process, the vehicle orientation parameter of the vehicle at a specified time is a spatial quaternion parameter of the vehicle at the specified time; the lane orientation parameter of the road is an azimuth angle of the road. At this time, specifically, the spatial quaternion parameter of the vehicle at the specified time may be subjected to conversion processing, the attitude angle of the vehicle at the specified time may be obtained, and the attitude matrix of the vehicle at the specified time may be obtained according to the attitude angle of the vehicle at the specified time. Then, the attitude angle of the road may be obtained according to the azimuth angle of the road, and the attitude matrix of the road may be obtained according to the attitude angle of the road. And then multiplying the attitude matrix of the road by the transposed matrix of the attitude matrix of the vehicle at the specified time to obtain the mapping parameter from the orientation of the vehicle to the orientation of the road.
In the implementation process, the spatial quaternion parameter of the vehicle at the specified time is subjected to conversion processing, so as to obtain the attitude angle of the vehicle at the specified time, and the detailed description of this operation can refer to the relevant contents in the previous implementation process. The detailed description of the operation of obtaining the attitude matrix of the vehicle at the specified time according to the attitude angle of the vehicle at the specified time can be referred to the relevant contents in the previous implementation process.
In this implementation, since only the yaw angle of rotation about the Z-axis is of interest, the other two angles of attitude angles of the road may be set to 0. Then, the azimuth angle of the road can be directly used as the yaw angle in the attitude angle of the road, and the pitch angle and the roll angle in the attitude angle of the road are 0.
After obtaining the attitude angle of the road, obtaining the attitude matrix of the road according to the attitude angle of the road, and the detailed description of this operation can be referred to the relevant contents in the previous implementation process.
In the implementation process, the mapping parameter is actually a transfer matrix, and the obtained real-time spatial quaternion parameter of the vehicle can be adjusted in real time by using the transfer matrix. For a detailed description, reference may be made to the related matters in the previous implementation.
The original real-time space quaternion parameter of the vehicle is rotated, so that the direction of the vehicle represented by the adjusted real-time space quaternion parameter of the vehicle is consistent with the direction of a road in an electronic map, and therefore, the vehicle can be subjected to automatic driving control processing according to the electronic map and the processed real-time space quaternion parameter of the vehicle.
It is to be understood that, in this embodiment, the mapping parameter may not be limited to the above forms, and may further be another parameter, for example, a distance, a ratio, or the like, and the obtained real-time azimuth angle of the vehicle may be adjusted in real time by using an adjustment value, for example, a length, a ratio, or the like, indicated by the mapping parameter, for example, a process such as translation, and this embodiment is not limited in particular.
In order to improve the reliability of the automatic travel control process, the electronic map used in the present invention may be a high-precision map. The high-precision map is a high-precision and fine-defined map, and the precision of the high-precision map can be distinguished only by being in the order of decimeters. With the development of positioning technology, high-precision positioning has become possible nowadays. The fine definition is required to format and store various traffic elements in the traffic scene, including road network data, lane lines, traffic signs and other data of the conventional electronic map.
A traditional electronic map can depict roads, partial roads can distinguish lanes, a high-precision map can depict the roads, a plurality of lanes on one road can be accurately depicted, and the actual style of the road can be truly reflected. The traditional electronic map can not completely show the details of the road shape, and the high-precision map can show the details of the road shape in detail and accurately in order to enable an automatic driving system to better identify the traffic condition, so that a driving scheme is made in advance, and the places which are widened and narrowed are completely consistent with the real road.
In the embodiment, by acquiring the real-time vehicle orientation parameter of the vehicle in the designated area and further using the mapping parameter of the vehicle orientation of the vehicle to the lane orientation of the road in the electronic map matched with the designated area, processing the real-time vehicle orientation parameters of the vehicle such that, based on the electronic map and the processed real-time vehicle orientation parameters of the vehicle, performing automatic travel control processing on the vehicle by adjusting the orientation of the vehicle within a specified area to coincide with the orientation of a lane of a road in an electronic map that matches the specified area, so that the electronic map of other areas similar to the designated area can be migrated to the designated area as an important basis for automatic driving, therefore, automatic driving of the automatic driving vehicle in a closed test field without an electronic map is realized.
In addition, by adopting the technical scheme provided by the invention, an electronic map of a designated area does not need to be additionally manufactured, and the electronic map matched with the designated area can be borrowed and used as an important basis for automatic driving in the designated area, so that automatic driving of the automatic driving vehicle can be carried out in a closed test site without the electronic map, and the reliability of automatic driving of the automatic driving vehicle can be effectively improved.
In addition, by adopting the technical scheme provided by the invention, an electronic map of a designated area does not need to be additionally manufactured, and the adaptability and the flexibility of automatic driving of the automatic driving vehicle can be effectively improved.
In addition, by adopting the technical scheme provided by the invention, the user experience can be effectively improved.
It should be noted that for simplicity of description, the above-mentioned method embodiments are shown as a series of combinations of acts, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.
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 the related descriptions of other embodiments.
Fig. 2 is a schematic structural diagram of a processing device for vehicle orientation according to another embodiment of the present invention, as shown in fig. 2. The processing device of the vehicle orientation of the present embodiment may include an acquisition unit 21, an adjustment unit 22, and a control unit 23. The acquiring unit 21 is used for acquiring real-time vehicle orientation parameters of the vehicles in the designated area; an adjusting unit 22, configured to process a vehicle orientation parameter of the vehicle in real time by using a mapping parameter of the vehicle orientation of the vehicle to a lane orientation of a road in an electronic map; the electronic map is matched with the designated area; and the control unit 23 is used for performing automatic running control processing on the vehicle according to the electronic map and the processed real-time vehicle orientation parameters of the vehicle.
The road on the electronic map may be a road on which the position of the vehicle in the designated area matches the position on the electronic map. The specific matching mode can be a custom matching mode. For example, in order to improve the utilization efficiency of the designated area, the designated area and another area similar to the designated area may be subjected to edge approximate alignment processing, so that the electronic map of the other area can be sufficiently utilized in the designated area. After the edge approximate alignment process, the position of the vehicle within the specified area may then be matched to a position in the electronic map.
It should be noted that, part or all of the processing device for vehicle orientation provided in this embodiment may be an application located in the local terminal, or may also be a functional unit such as a plug-in or Software Development Kit (SDK) provided in the application located in the local terminal, or may also be a search engine located in a server on the network side, or may also be a distributed system located on the network side, which is not particularly limited in this embodiment.
It is to be understood that the application may be a native app (native app) installed on the terminal, or may also be a web page program (webApp) of a browser on the terminal, and this embodiment is not particularly limited thereto.
Optionally, in a possible implementation manner of this embodiment, the adjusting unit 22 may be further configured to obtain a vehicle orientation parameter of the vehicle at a specified time and a lane orientation parameter of the road; and obtaining a mapping parameter of the vehicle orientation of the vehicle to the lane orientation of the road in the electronic map according to the vehicle orientation parameter of the vehicle at the specified moment and the lane orientation parameter of the road.
In this implementation, the acquired vehicle orientation parameter of the vehicle at the specified time may be an azimuth angle of the vehicle at the specified time, or may also be a spatial quaternion parameter of the vehicle at the specified time, which is not particularly limited in this embodiment.
In this implementation, the acquired lane orientation parameter of the road may be an azimuth angle of the road, or may also be an airspace quaternion parameter of the road, which is not particularly limited in this embodiment.
The azimuth is a horizontal angle from a north arrow at a certain point to a target line along a clockwise direction.
Then, the azimuth angle of the vehicle at the specified time is a horizontal included angle from a north-pointing direction line of the position of the vehicle at the specified time to a vehicle head direction line of the vehicle at the specified time along the clockwise direction; the azimuth angle of the road is a horizontal angle from a north-pointing direction line of any point on the road to the road direction line along the clockwise direction.
Based on the vehicle orientation parameter of the vehicle at a given time and different forms of the lane orientation parameter of the road, in this implementation, the adjusting unit 22 may adopt a plurality of different technical solutions to obtain a mapping parameter of the vehicle orientation of the vehicle to the lane orientation of the road.
In a specific implementation process, the vehicle orientation parameter of the vehicle at a specified time is an azimuth angle of the vehicle at the specified time; the lane orientation parameter of the road is the azimuth angle of the road; accordingly, the adjusting unit 22 may be specifically configured to subtract the azimuth of the vehicle at a specified time from the azimuth of the road, so as to obtain a mapping parameter of the heading of the vehicle to the heading of the road.
In another specific implementation, the vehicle orientation parameter of the vehicle at a specified time is an azimuth angle of the vehicle at the specified time; the lane orientation parameter of the road is a spatial quaternion parameter of the road; accordingly, the adjusting unit 22 may be specifically configured to perform conversion processing on the spatial quaternion parameter of the road, so as to obtain an attitude angle of the road; obtaining an azimuth angle of the road according to the attitude angle of the road; and subtracting the azimuth angle of the vehicle at a specified time from the azimuth angle of the road to obtain a mapping parameter of the orientation of the vehicle to the orientation of the road.
In another specific implementation process, the vehicle orientation parameter of the vehicle at a specified time is a spatial quaternion parameter of the vehicle at the specified time; the lane orientation parameter of the road is a spatial quaternion parameter of the road; accordingly, the adjusting unit 22 may be specifically configured to perform conversion processing on the spatial quaternion parameter of the vehicle at a specified time, so as to obtain an attitude angle of the vehicle at the specified time; obtaining an attitude matrix of the vehicle at the appointed time according to the attitude angle of the vehicle at the appointed time; converting the spatial quaternion parameters of the road to obtain an attitude angle of the road; acquiring an attitude matrix of the road according to the attitude angle of the road; and multiplying the attitude matrix of the road by a transposed matrix of the attitude matrix of the vehicle at a specified time to obtain a mapping parameter of the orientation of the vehicle to the orientation of the road.
In another specific implementation process, the vehicle orientation parameter of the vehicle at a specified time is a spatial quaternion parameter of the vehicle at the specified time; the lane orientation parameter of the road is the azimuth angle of the road; accordingly, the adjusting unit 22 may be specifically configured to perform conversion processing on the spatial quaternion parameter of the vehicle at a specified time, so as to obtain an attitude angle of the vehicle at the specified time; acquiring an attitude matrix of the vehicle at a specified time according to the attitude angle of the vehicle at the specified time; obtaining the attitude angle of the road according to the azimuth angle of the road; acquiring an attitude matrix of the road according to the attitude angle of the road; and multiplying the attitude matrix of the road by a transposed matrix of the attitude matrix of the vehicle at a specified time to obtain a mapping parameter of the orientation of the vehicle to the orientation of the road.
It should be noted that the method in the embodiment corresponding to fig. 1 may be implemented by the processing device for the vehicle orientation provided in this embodiment. For a detailed description, reference may be made to relevant contents in the embodiment corresponding to fig. 1, and details are not described here.
In the embodiment, the real-time vehicle orientation parameters of the vehicles in the designated area are acquired through the acquisition unit, thereby using the mapping parameter of the vehicle orientation of the vehicle to the lane orientation of the road in the electronic map matching the specified area, further, the real-time vehicle orientation parameter of the vehicle is processed by the adjusting unit, so that the control unit can control the vehicle orientation parameter of the vehicle according to the real-time vehicle orientation parameter of the vehicle after the processing of the electronic map and the adjusting unit, performing automatic travel control processing on the vehicle by adjusting the orientation of the vehicle within a specified area to coincide with the orientation of a lane of a road in an electronic map that matches the specified area, so that the electronic map of other areas similar to the designated area can be migrated to the designated area as an important basis for automatic driving, therefore, automatic running of the automatic driving vehicle in a closed test field without an electronic map is realized.
In addition, by adopting the technical scheme provided by the invention, an electronic map of a designated area does not need to be additionally manufactured, and the electronic map matched with the designated area can be borrowed and used as an important basis for automatic driving in the designated area, so that automatic driving of the automatic driving vehicle can be carried out in a closed test site without the electronic map, and the reliability of automatic driving of the automatic driving vehicle can be effectively improved.
In addition, by adopting the technical scheme provided by the invention, an electronic map of a designated area does not need to be additionally manufactured, and the adaptability and the flexibility of automatic driving of the automatic driving vehicle can be effectively improved.
In addition, by adopting the technical scheme provided by the invention, the user experience can be effectively improved.
FIG. 3 illustrates a block diagram of an exemplary computer system/server 12 suitable for use in implementing embodiments of the present invention. The computer system/server 12 shown in FIG. 3 is only an example and should not be taken to limit the scope of use or the functionality of embodiments of the present invention in any way.
As shown in FIG. 3, computer system/server 12 is in the form of a general purpose computing device. The components of computer system/server 12 may include, but are not limited to: one or more processors or processing units 16, a storage device or system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
Computer system/server 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer system/server 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. The computer system/server 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 3, and commonly referred to as a "hard drive"). Although not shown in FIG. 3, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
Program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination of which may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The computer system/server 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with the computer system/server 12, and/or with any devices (e.g., network card, modem, etc.) that enable the computer system/server 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 44. Also, computer system/server 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via network adapter 20. As shown, network adapter 20 communicates with the other modules of computer system/server 12 via bus 18. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the computer system/server 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, to name a few.
The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, for example, to implement the processing method of the vehicle orientation provided by the embodiment corresponding to fig. 1.
Another embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the method for processing the orientation of a vehicle provided by the corresponding embodiment of fig. 1.
In particular, any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
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.
In the several embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or page components may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or in the form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (18)
1. A method of processing a vehicle heading, comprising:
acquiring real-time vehicle orientation parameters of vehicles in a designated area;
processing the real-time vehicle orientation parameters of the vehicle by utilizing the mapping parameters of the vehicle orientation of the vehicle to the lane orientation of the road in the electronic map; the electronic map is obtained by transferring electronic maps of other areas similar to a designated area to the designated area and is matched with the designated area;
and carrying out automatic running control processing on the vehicle according to the electronic map and the processed real-time vehicle orientation parameters of the vehicle.
2. The method of claim 1, wherein prior to processing the real-time vehicle orientation parameters of the vehicle using the mapping parameters of the vehicle orientation of the vehicle to lane orientations of roads in an electronic map, further comprising:
acquiring a vehicle orientation parameter of the vehicle at a specified moment and a lane orientation parameter of the road;
and obtaining a mapping parameter of the vehicle orientation of the vehicle to the lane orientation of the road in the electronic map according to the vehicle orientation parameter of the vehicle at the specified moment and the lane orientation parameter of the road.
3. The method of claim 2, wherein the vehicle heading parameter for the vehicle at a specified time comprises an azimuth angle for the vehicle at the specified time or an airspace quaternion parameter for the vehicle at the specified time.
4. The method of claim 2, wherein the lane-orientation parameter of the road comprises an azimuth angle of the road or an aerial quaternion parameter of the road.
5. The method according to any one of claims 2 to 4, wherein the vehicle orientation parameter of the vehicle at a given time is an azimuth angle of the vehicle at the given time; the lane orientation parameter of the road is the azimuth angle of the road; the obtaining of the mapping parameter from the vehicle orientation of the vehicle to the lane orientation of the road according to the vehicle orientation parameter of the vehicle at the specified time and the lane orientation parameter of the road includes:
and subtracting the azimuth angle of the vehicle at a specified moment from the azimuth angle of the road to obtain a mapping parameter of the orientation of the vehicle to the orientation of the road.
6. The method according to any one of claims 2 to 4, wherein the vehicle orientation parameter of the vehicle at a given time is an azimuth angle of the vehicle at the given time; the lane orientation parameter of the road is a spatial quaternion parameter of the road; the obtaining of the mapping parameter from the vehicle orientation of the vehicle to the lane orientation of the road according to the vehicle orientation parameter of the vehicle at the specified time and the lane orientation parameter of the road comprises:
converting the spatial quaternion parameters of the road to obtain an attitude angle of the road;
obtaining an azimuth angle of the road according to the attitude angle of the road;
and subtracting the azimuth angle of the vehicle at a specified moment from the azimuth angle of the road to obtain a mapping parameter of the orientation of the vehicle to the orientation of the road.
7. The method according to any one of claims 2 to 4, wherein the vehicle orientation parameter of the vehicle at a given time is a spatial quaternion parameter of the vehicle at a given time; the lane orientation parameter of the road is a spatial quaternion parameter of the road; the obtaining of the mapping parameter from the vehicle orientation of the vehicle to the lane orientation of the road according to the vehicle orientation parameter of the vehicle at the specified time and the lane orientation parameter of the road comprises:
converting the space quaternion parameters of the vehicle at the appointed time to obtain an attitude angle of the vehicle at the appointed time; obtaining an attitude matrix of the vehicle at the appointed time according to the attitude angle of the vehicle at the appointed time;
converting the spatial quaternion parameters of the road to obtain an attitude angle of the road; acquiring an attitude matrix of the road according to the attitude angle of the road;
and multiplying the attitude matrix of the road by the transpose matrix of the attitude matrix of the vehicle at the specified time to obtain the mapping parameter of the orientation of the vehicle to the orientation of the road.
8. The method according to any one of claims 2 to 4, wherein the vehicle orientation parameter of the vehicle at a given time is a spatial quaternion parameter of the vehicle at a given time; the lane orientation parameter of the road is the azimuth angle of the road; the obtaining of the mapping parameter from the vehicle orientation of the vehicle to the lane orientation of the road according to the vehicle orientation parameter of the vehicle at the specified time and the lane orientation parameter of the road comprises:
converting the space quaternion parameters of the vehicle at the appointed time to obtain an attitude angle of the vehicle at the appointed time; acquiring an attitude matrix of the vehicle at a specified time according to the attitude angle of the vehicle at the specified time;
obtaining the attitude angle of the road according to the azimuth angle of the road; acquiring an attitude matrix of the road according to the attitude angle of the road;
and multiplying the attitude matrix of the road by a transposed matrix of the attitude matrix of the vehicle at the appointed moment to obtain a mapping parameter from the orientation of the vehicle to the orientation of the road.
9. A vehicle orientation processing apparatus, comprising:
the acquiring unit is used for acquiring real-time vehicle orientation parameters of vehicles in the designated area;
the adjusting unit is used for processing the real-time vehicle orientation parameters of the vehicle by utilizing the mapping parameters of the vehicle orientation of the vehicle to the lane orientation of the road in the electronic map; the electronic map is obtained by transferring electronic maps of other areas similar to a designated area to the designated area and is matched with the designated area;
and the control unit is used for carrying out automatic running control processing on the vehicle according to the electronic map and the processed real-time vehicle orientation parameters of the vehicle.
10. The apparatus of claim 9, wherein the adjusting unit is further configured to adjust the adjustment of the first and second positions
Acquiring a vehicle orientation parameter of the vehicle at a specified moment and a lane orientation parameter of the road; and
and obtaining a mapping parameter of the vehicle orientation of the vehicle to the lane orientation of the road in the electronic map according to the vehicle orientation parameter of the vehicle at the specified moment and the lane orientation parameter of the road.
11. The apparatus of claim 10, wherein the vehicle orientation parameter of the vehicle at a specified time comprises an azimuth angle of the vehicle at a specified time or an aerial quaternion parameter of the vehicle at a specified time.
12. The apparatus of claim 10, wherein the lane-orientation parameter of the road comprises an azimuth angle of the road or an aerial quaternion parameter of the road.
13. The apparatus of any one of claims 10 to 12, wherein the vehicle orientation parameter of the vehicle at a given time is an azimuth angle of the vehicle at the given time; the lane orientation parameter of the road is the azimuth angle of the road; the adjusting unit is particularly used for
And subtracting the azimuth angle of the vehicle at a specified time from the azimuth angle of the road to obtain a mapping parameter of the orientation of the vehicle to the orientation of the road.
14. The apparatus of any one of claims 10 to 12, wherein the vehicle orientation parameter of the vehicle at a given time is an azimuth angle of the vehicle at the given time; the lane orientation parameter of the road is a spatial quaternion parameter of the road; the adjusting unit is used for
Converting the spatial quaternion parameters of the road to obtain an attitude angle of the road;
obtaining an azimuth angle of the road according to the attitude angle of the road; and
and subtracting the azimuth angle of the vehicle at a specified moment from the azimuth angle of the road to obtain a mapping parameter of the orientation of the vehicle to the orientation of the road.
15. The device according to any one of claims 10 to 12, wherein the vehicle orientation parameter of the vehicle at a given time is a spatial quaternion parameter of the vehicle at a given time; the lane orientation parameter of the road is a spatial quaternion parameter of the road; the adjusting unit is particularly used for
Converting the spatial quaternion parameters of the vehicle at the appointed time to obtain the attitude angle of the vehicle at the appointed time; acquiring an attitude matrix of the vehicle at a specified time according to the attitude angle of the vehicle at the specified time;
converting the spatial quaternion parameters of the road to obtain an attitude angle of the road; acquiring an attitude matrix of the road according to the attitude angle of the road; and
and multiplying the attitude matrix of the road by a transposed matrix of the attitude matrix of the vehicle at the appointed moment to obtain a mapping parameter from the orientation of the vehicle to the orientation of the road.
16. The device according to any one of claims 10 to 12, wherein the vehicle orientation parameter of the vehicle at a given time is a spatial quaternion parameter of the vehicle at a given time; the lane orientation parameter of the road is the azimuth angle of the road; the adjusting unit is used for
Converting the spatial quaternion parameters of the vehicle at the appointed time to obtain the attitude angle of the vehicle at the appointed time; obtaining an attitude matrix of the vehicle at the appointed time according to the attitude angle of the vehicle at the appointed time;
obtaining an attitude angle of the road according to the azimuth angle of the road; acquiring an attitude matrix of the road according to the attitude angle of the road; and
and multiplying the attitude matrix of the road by a transposed matrix of the attitude matrix of the vehicle at the appointed moment to obtain a mapping parameter from the orientation of the vehicle to the orientation of the road.
17. An apparatus, characterized in that the apparatus comprises:
one or more processors;
a storage device to store one or more programs,
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method as recited in any of claims 1-8.
18. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 8.
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