CN110186472B - Vehicle yaw detection method, computer device, storage medium, and vehicle system - Google Patents
Vehicle yaw detection method, computer device, storage medium, and vehicle system Download PDFInfo
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- CN110186472B CN110186472B CN201910431979.0A CN201910431979A CN110186472B CN 110186472 B CN110186472 B CN 110186472B CN 201910431979 A CN201910431979 A CN 201910431979A CN 110186472 B CN110186472 B CN 110186472B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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Abstract
The invention provides a vehicle yaw detection method, computer equipment, storage medium and vehicle system, comprising: sampling a planned path and an actual path of a vehicle to obtain a planned path point set and an actual path point set of vehicle driving; extracting any point S from the set of actual path pointsiSearching all AND points S in the planning path point setiAdjacent planned path points, calculated points SiCoincidence ratio P between all adjacent planned path pointsiWill then overlap ratio PiStoring into coincidence rate set, and storing the point SiRemoving from the set of actual waypoints; the second step is circulated until the actual path point set is an empty set; and obtaining an average value P of all the coincidence rates in the coincidence rate set, and judging the vehicle yaw if P is smaller than a preset threshold value. The vehicle line yaw detection is realized by introducing the coincidence rate, and only the data are stored without real-time calculation in the driving process, so that the calculation pressure of a server is reduced. The invention is applied to the field of vehicle yaw detection.
Description
Technical Field
The invention relates to the field of vehicle yaw detection, in particular to a vehicle yaw detection method, computer equipment, a storage medium and a vehicle system.
Background
The line yaw detection is generally used in a system with fixed requirements on the running track of a vehicle, for example, in an industrial internet of things, the pump truck is prevented from exceeding a specified route in the running process and running to other routes to cause oil stealing. The existing line yaw detection methods are roughly three types: (1) calculating whether the current position is on a preset line in real time according to the longitude and latitude; (2) judging whether the driving track is on a preset street or not according to the historical track and the street name; (3) and judging whether the vehicle runs in a yawing mode according to the running time of the vehicle and the preset line length. The three line yaw detection methods have obvious defects, such as poor fault-tolerant capability, occasional large deviation of longitude and latitude information, and false alarm generated when the longitude and latitude information is inaccurate. The use of street names or travel times to determine whether a map is susceptible to the effects of map street information and vehicle conditions may also generate false alarms. The requirement on the performance of a computer is high, longitude and latitude information of the vehicle is acquired in real time, whether a coordinate point is on a set track or not is synchronously calculated, and when the acquisition frequency is high, a large amount of computer performance is consumed for yaw detection.
Disclosure of Invention
In view of the deficiencies in the prior art, it is an object of the present invention to provide a vehicle yaw detection method, a computer device, a storage medium and a vehicle system.
The technical scheme is as follows:
a vehicle line yaw detection method based on a region coincidence rate comprises the following steps:
103, circulating the step 102 until the actual path point set is an empty set, and then entering the step 104;
and 104, obtaining an average value P of all the coincidence rates in the coincidence rate set, and judging the vehicle yaw if P is smaller than a preset threshold value.
As a further improvement of the above technical solution, in step 101, sampling the planned path and the actual path of the vehicle driving specifically includes:
and carrying out interval sampling on a planned path and an actual path of vehicle driving, wherein the sampling precision of the planned path is the same as that of the actual path, and the sampling information is longitude and latitude.
As a further improvement of the above technical solution, in step 102, the step of searching all the intersection points S in the planned path point set is characterized in thatiThe specific process of adjacent planning path points is as follows:
step 201, placing all planned path points in a planned path point set in a two-dimensional coordinate system by taking longitude as a horizontal coordinate and latitude as a vertical coordinate;
As a further improvement of the above technical solution, in step 102, the calculation point S isiCoincidence ratio P between all adjacent planned path pointsiThe specific process comprises the following steps:
As a further improvement of the above technical solution, in step 101, the sampling precision is 1% to 2% of the total length of the planned path.
As a further improvement of the above technical solution, in step 104, the preset threshold is 80%.
A computer device comprising a memory storing a computer program and a processor implementing the steps of the above method when executing the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
A vehicle system comprises a vehicle and a client arranged on the vehicle, wherein the client is in communication connection with the computer equipment.
The invention has the beneficial technical effects that:
the invention realizes the yaw detection of the vehicle route by introducing the coincidence rate, judges whether the vehicle has yaw by calculating the coincidence rate of the vehicle driving planned route and the vehicle driving actual route, only stores data without real-time calculation in the driving process of the vehicle driving planned route and the vehicle driving actual route, thereby reducing the calculation pressure of a server, simultaneously introduces the concept of a threshold value in the calculation process, generates alarm when the coincidence rate is less than a certain threshold value, and only generates influence on the calculation of a small number of coordinate point coincidence areas when the vehicle generates deviation occasionally because the whole route is cut into a large number of point sets, and has less influence on the final result, thereby effectively solving the problem of false alarm.
Drawings
FIG. 1 is a schematic flow diagram of a vehicle lane yaw detection method of the present invention;
FIG. 2 is a diagram of the invention for searching all AND points SiA flow diagram of adjacent planned path points;
FIG. 3 is a graph showing the calculated overlap ratio P in the inventioniThe flow diagram of (1);
FIG. 4 is a diagram of the invention for searching all AND points SiA schematic structural diagram of adjacent planned path points;
FIG. 5 is a graph of the calculated overlap ratio P in the inventioniSchematic structural diagram of (1);
fig. 6 is a block diagram of a computer device according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more apparent, the present invention is further described in detail below with reference to specific embodiments and the accompanying drawings. It should be noted that, in the drawings or the description, the undescribed contents and parts of english are abbreviated as those well known to those skilled in the art. Some specific parameters given in the present embodiment are only exemplary, and the values may be changed to appropriate values accordingly in different real-time manners.
A method for detecting vehicle lane yaw based on area coincidence as shown in fig. 1, comprising the steps of:
101, sampling a planned path and an actual path for vehicle driving to obtain a planned path point set and an actual path point set for vehicle driving;
102, extracting any point S from the set of actual path pointsiSearching all AND points S in the planning path point setiAdjacent planned path points, calculated points SiCoincidence ratio P between all adjacent planned path pointsiWill then overlap ratio PiStoring into coincidence rate set, and storing the point SiRemoving from the set of actual waypoints;
103, circulating the step 102 until the actual path point set is an empty set, and then entering the step 104;
104, obtaining an average value P of all the coincidence rates in the coincidence rate set, and if P is smaller than a preset threshold value, judging that the vehicle drifts, and further transmitting a yaw alarm; wherein the preset threshold is 80%.
The method realizes the yaw detection of the vehicle route by introducing the coincidence rate, judges whether the vehicle drifts by calculating the coincidence rate of the vehicle driving planned route and the vehicle driving actual route, only stores data without real-time calculation in the driving process of the vehicle driving planned route and the vehicle driving actual route, thereby reducing the calculation pressure of a server, simultaneously introduces the concept of a threshold value in the calculation process, generates an alarm when the coincidence rate is less than a certain threshold value, only can generate influence on the calculation of a small number of coordinate point coincidence areas when the vehicle generates deviation occasionally because the whole route is cut into a large number of point sets, and has small influence on the final result, thereby effectively solving the problem of false alarm.
In 101, sampling the planned path and the actual path of the vehicle is specifically: and carrying out interval sampling on a planned path and an actual path of vehicle driving, wherein the sampling precision of the planned path is the same as that of the actual path, and the sampling information is longitude and latitude. The sampling precision is 1% -2% of the total length of the planned path, the planned path is 500 meters in the embodiment, the sampling precision is 5 meters, namely, a sampling point is taken on the planned path every 5 meters to collect the longitude and latitude of the planned path, and the total number of the planned path points is 100 in the planned path point set; the sampling precision of the actual path is also 5 meters, and at least 100 actual path points exist in the actual path point set.
Referring to FIG. 2, at 102, all AND points S are searched for in the set of planned path pointsiThe specific process of adjacent planning path points is as follows:
setting all planned path points in the planned path point set in a two-dimensional coordinate system by taking longitude as an abscissa and latitude as an ordinate;
202, acquiring a point S in the two-dimensional coordinate system in the step 201iA circle which is the center of the circle and has 2 times of sampling precision as the radius is used as a search area;
203, screening out the planned path points in the search area in the step 202 as AND points SiAdjacent planned Path points, see FIG. 4, T in FIG. 41，T2，T3，T4Is the point SiAdjacent planned path points.
Referring to FIG. 3, at 102, a point S is calculatediCoincidence ratio P between all adjacent planned path pointsiThe specific process comprises the following steps:
301, the point S in the two-dimensional coordinate system in step 201 is obtainediA square with the center and 2 times of sampling precision as the side length is used as an actual area;
302, all the points S in the two-dimensional coordinate system in step 201 are acquirediTaking a set of squares with adjacent planning path points as centers and 2 times of sampling precision as side length as a planning area;
303, acquiring a part of the actual region located in the planning region as an overlapping region, referring to fig. 5, wherein a shaded part in fig. 5 is the overlapping region;
304, obtaining the coincidence ratio Pi：PiI.e. overlap/actual area.
Shown in fig. 6 is a block diagram of an exemplary computer device/server 601 for implementing embodiments of the present invention. The computer device/server 601 shown in fig. 6 is only an example, and should not bring any limitation to the function and use range of the embodiment of the present invention.
As shown in fig. 6, computer device/server 601 is in the form of a general purpose computing device. Components of computer device/server 601 may include, but are not limited to: one or more processors (processing units) 602, a memory 603, and a bus 604 that couples the various system components including the memory 603 and the processors 602.
Computer device/server 601 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer device/server 601 and includes both volatile and nonvolatile media, removable and non-removable media.
The memory 603 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)605 and/or cache memory 606. The computer device/server 601 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 607 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 6, commonly referred to as a "hard drive"). Although not shown in FIG. 6, 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 604 by one or more data media interfaces. Memory 603 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.
A program/utility having a set (at least one) of program modules 608 may be stored, for example, in memory 603, such program modules 608 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 608 generally carry out the functions and/or methodologies of travel-enabled area detection in the described embodiments of the invention.
The computer device/server 601 may also communicate with one or more external devices 609 (e.g., keyboard, pointing device, display, etc.), with one or more devices that enable a user to interact with the computer device/server 601, and/or with any devices (e.g., network card, modem, etc.) that enable the computer device/server 601 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 6010. Also, the computer device/server 601 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) through the network adapter 6011. As shown in fig. 6, the network adapter 6011 communicates with the other modules of the computer device/server 601 over a bus 604. 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 device/server 601, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processor 602 executes various functional applications and data processing, for example, implementing the method in the embodiment shown in fig. 1, by executing programs stored in the memory 603.
The invention also discloses a computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, will carry out the method as in the embodiment shown in fig. 1.
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 many 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 computer device/server. In the case of a remote computer, 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).
The embodiment also discloses a vehicle system, which comprises a vehicle and a client arranged on the vehicle, wherein the client is in communication connection with the server, and the client is loaded with a GPS locator for collecting the longitude and latitude of the vehicle.
The foregoing description of the preferred embodiments of the present invention has been included to describe the features of the invention in detail, and is not intended to limit the inventive concepts to the particular forms of the embodiments described, as other modifications and variations within the spirit of the inventive concepts will be protected by this patent. The subject matter of the present disclosure is defined by the claims, not by the detailed description of the embodiments.
Claims (7)
1. A vehicle route yaw detection method based on a region coincidence rate is characterized by comprising the following steps:
step 101, sampling a planned path and an actual path for vehicle driving, and acquiring a planned path point set and an actual path point set for vehicle driving;
step 102, extracting any point S from the set of actual path pointsiSearching all AND points S in the planning path point setiAdjacent planned path points, calculated points SiCoincidence ratio P between all adjacent planned path pointsiWill then overlap ratio PiStoring into coincidence rate set, and storing the point SiRemoving from the set of actual waypoints;
103, circulating the step 102 until the actual path point set is an empty set, and then entering the step 104;
104, obtaining an average value P of all the coincidence rates in the coincidence rate set, and judging the vehicle yaw if P is smaller than a preset threshold value;
in step 101, sampling a planned path and an actual path of vehicle driving specifically includes:
sampling a planned path and an actual path of vehicle driving at intervals, wherein the sampling precision of the planned path is the same as that of the actual path, and the sampling information is longitude and latitude;
in step 102, all the summation points S are searched out from the planning path point setiThe specific process of adjacent planning path points is as follows:
step 201, placing all planned path points in a planned path point set in a two-dimensional coordinate system by taking longitude as a horizontal coordinate and latitude as a vertical coordinate;
step 202, acquiring a point S in the two-dimensional coordinate system in step 201iA circle which is the center of the circle and has 2 times of sampling precision as the radius is used as a search area;
step 203, screening out the planned path points in the search area in step 202 as AND points SiAdjacent planned path points.
2. The method for detecting the lane yaw of a vehicle according to claim 1, wherein the calculation point S is set at step 102iCoincidence ratio P between all adjacent planned path pointsiThe specific process comprises the following steps:
step 301, acquiring a point S in the two-dimensional coordinate system in step 201iIs 2 times as central asSampling a square with the accuracy of side length as an actual area;
step 302, acquiring all the points S in the two-dimensional coordinate system in step 201iTaking a set of squares with adjacent planning path points as centers and 2 times of sampling precision as side length as a planning area;
step 303, acquiring a part of the actual region, which is located in the planning region, as an overlapping region;
step 304, obtaining the coincidence ratio Pi：PiI.e. overlap/actual area.
3. The method for detecting vehicle route yaw based on the area coincidence ratio according to any one of claims 1 to 2, wherein in step 101, the sampling precision is 1% -2% of the total length of the planned path.
4. The method for detecting lane yaw of a vehicle according to any one of claims 1 to 2, wherein the preset threshold is 80% in step 104.
5. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 4 when executing the computer program.
6. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 4.
7. A vehicle system comprising a vehicle and a client disposed on the vehicle, the client communicatively coupled to the computer device of claim 5.
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| CN110570040B (en) * | 2019-09-09 | 2023-05-02 | 北京京东乾石科技有限公司 | Vehicle scheduling method and device, computer storage medium and electronic equipment |
| CN113902210A (en) * | 2021-10-22 | 2022-01-07 | 南京领行科技股份有限公司 | Network appointment vehicle yaw detection method and device, electronic equipment and storage medium |
| CN116238545B (en) * | 2023-05-12 | 2023-10-27 | 禾多科技（北京）有限公司 | Automatic driving track deviation detection method and detection system |
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