CN110595487A - Driving track generation method and device, computer equipment and storage medium - Google Patents
Driving track generation method and device, computer equipment and storage medium Download PDFInfo
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- CN110595487A CN110595487A CN201910670496.6A CN201910670496A CN110595487A CN 110595487 A CN110595487 A CN 110595487A CN 201910670496 A CN201910670496 A CN 201910670496A CN 110595487 A CN110595487 A CN 110595487A
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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
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Abstract
The application belongs to the technical field of big data map navigation, and relates to a driving track generation method, a driving track generation device, computer equipment and a storage medium. The method comprises the following steps: acquiring a turning angle and a driving distance of a target vehicle in a historical time period; marking angle nodes and angle peak values of the turning angles, wherein the maximum value of the turning angles in one turning direction is the angle peak value; marking a distance node and a turning point on the driving distance according to the angle node and the angle peak value on the turning angle; carrying out driving track simulation on the angle nodes, the angle peak values, the distance nodes and the turning points to generate driving simulation tracks; leading the driving simulation track into a map for matching; and correcting the driving simulation track based on the map to obtain the driving track of the target vehicle. The method can acquire the driving track of the vehicle under the condition that the GPS signal cannot be utilized for positioning.
Description
Technical Field
The application belongs to the technical field of big data map navigation, and relates to a driving track generation method, a driving track generation device, computer equipment and a storage medium.
Background
At present, the driving track is basically obtained through GPS positioning of a vehicle-mounted terminal or a handheld terminal. Acquiring the driving track through GPS positioning requires that the terminal be in a good GPS signal state. When the GPS signal is weak, the GPS signal of the terminal cannot be acquired, and then the driving track of the vehicle cannot be acquired.
Under the existing technical conditions, when a vehicle enters an underground parking lot and other places where GPS signals are affected, the driving track is difficult to obtain, and the vehicle is not easy to find again. Therefore, how to acquire the driving track of the vehicle under the condition that the positioning cannot be realized by using the GPS signal becomes an urgent technical problem to be solved.
Disclosure of Invention
The embodiment of the application discloses a driving track generation method, a driving track generation device, computer equipment and a storage medium, and aims to solve the technical problem of acquiring the driving track of a vehicle under the condition that positioning cannot be realized by using a GPS signal.
Some embodiments of the present application disclose a method for generating a driving trajectory, comprising: acquiring a turning angle and a driving distance of a target vehicle in a historical time period; marking angle nodes and angle peak values of the turning angles, wherein the angle variation between two adjacent angle nodes is equal to a variation threshold, and the maximum value of the turning angles in one turning direction is the angle peak value; marking a distance node and a turning point on the driving distance according to the angle node and the angle peak value on the turning angle; carrying out driving track simulation on the angle nodes, the angle peak values, the distance nodes and the turning points to generate driving simulation tracks; leading the driving simulation track into a map for matching; and correcting the driving simulation track based on the map to obtain the driving track of the target vehicle.
In some embodiments of the present application, the step of marking a distance node and a turning point on the travel distance according to the angle node and the angle peak on the turning angle comprises: recording the angle node and the time point of the angle peak; marking the distance node and the turning point on the travel distance according to the angle node and the time point of the angle peak.
In some embodiments of the present application, the step of performing a driving trace simulation on the angle node, the angle peak, the distance node, and the turning point to generate a driving simulation trace includes: establishing a relational database among the angle nodes, the angle peak values, the distance nodes and the turning points; and calling the relational database to simulate the distance nodes and the turning points into the driving simulation track according to a time process.
In some embodiments of the present application, the step of matching the driving simulation trajectory to the map includes: and matching the driving simulation track with a road network in the map to obtain a first preselected driving track.
In some embodiments of the present application, the step of matching the driving simulation trajectory with a road network in the map to obtain a first preselected driving trajectory comprises: judging at least one driving track in the road network according to the lane at the starting point of the driving simulation track; calculating the deviation rate of the driving track relative to the driving simulation track in the map; and taking the running track with the minimum deviation rate as the first preselected running track.
In some embodiments of the present application, the deviation rate is calculated according to the formula δ — 1 — λ, where δ represents the deviation rate, and λ represents the coincidence rate of the driving simulation trajectory with the road network in the map; and capturing the length of the driving simulation track in the road network in the map, and then calculating the ratio of the length to the driving distance to obtain the coincidence rate.
In some embodiments of the present application, the step of correcting the driving simulation trajectory based on the map to obtain the driving trajectory of the target vehicle includes: correcting the driving tracks at the distance nodes and the turning points in the driving simulation tracks by combining the map; correcting the offset of the driving simulation track in the map so that the driving simulation track falls on the road network of the map; and generating the driving track of the target vehicle according to the corrected driving simulation track.
An embodiment of the present application discloses a driving track generation device, including: the acquisition module is used for acquiring the turning angle and the running distance of the target vehicle in a historical time period; the first marking module is used for marking angle nodes and angle peak values of the turning angle, the angle variation between every two adjacent angle nodes is equal to a variation threshold, and the maximum value of the turning angle in one turning direction is the angle peak value; the second marking module is used for marking a distance node and a turning point on the driving distance according to the angle node and the angle peak value on the turning angle; the driving track simulation module is used for carrying out driving track simulation on the angle nodes, the angle peak values, the distance nodes and the turning points to generate driving simulation tracks; the matching module is used for importing the driving simulation track into a map for matching; and the driving track correction module is used for correcting the driving simulation track based on the map to obtain the driving track of the target vehicle.
In some embodiments of the present application, the second marking module comprises: the recording submodule is used for recording the angle nodes and the time points of the angle peak values; and the point marking submodule is used for marking the distance node and the turning point on the driving distance according to the angle node and the time point of the angle peak value.
In some embodiments of the present application, the driving trajectory simulation module includes: the relational database submodule is used for establishing a relational database among the angle nodes, the angle peak values, the distance nodes and the turning points; and the simulation submodule is used for calling the relational database to simulate the distance nodes and the turning points into the driving simulation track according to a time process.
In some embodiments of the present application, the matching module comprises: and the road network matching submodule is used for matching the driving simulation track with the road network in the map to obtain a first preselected driving track.
In some embodiments of the present application, the road network matching sub-module comprises: the judging unit is used for judging at least one driving track in the road network according to the lane at the starting point of the driving simulation track; the deviation rate calculation unit is used for calculating the deviation rate of the driving track relative to the driving simulation track in the map; and the selection unit is used for taking the running track with the minimum deviation rate as the first preselected running track.
In some embodiments of the present application, the offset rate calculating unit calculates the offset rate according to a formula δ 1- λ, where δ represents the offset rate and λ represents an overlapping rate of the driving simulation trajectory and a road network in the map; and capturing the length of the driving simulation track in the road network in the map, and then calculating the ratio of the length to the driving distance to obtain the coincidence rate.
In some embodiments of the present application, the trajectory correction module includes: a first correction sub-module, configured to correct a driving trajectory at the distance node and the turning point in the driving simulation trajectory in combination with the map; the second correction submodule is used for correcting the deviation amount of the driving simulation track in the map so that the driving simulation track falls on the road network of the map; and the generation submodule is used for generating the driving track of the target vehicle according to the corrected driving simulation track.
Some embodiments of the present application disclose a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the above-mentioned driving trajectory generation methods when executing the computer program.
Some embodiments of the present application disclose a computer readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above-mentioned trajectory generation methods.
Compared with the prior art, the technical scheme disclosed by the application mainly has the following beneficial effects:
in an embodiment of the present application, a turning angle and a travel distance of a target vehicle within a historical period of time are first acquired when the intensity of a GPS signal of the target vehicle or the intensity of a GPS signal of a mobile terminal in the target vehicle is below a threshold value or when the target vehicle receives a trigger instruction. Therefore, the data acquisition path is free from the dependence on the GPS signal, so that the data related to the running track of the target vehicle can be recorded under the condition that the strength of the GPS signal is weak or the GPS signal is not available.
Secondly, marking angle nodes and angle peak values of the turning angles, marking distance nodes and turning points on the driving distance according to the angle nodes and the angle peak values on the turning angles, and establishing a relational database among the angle nodes, the angle peak values, the distance nodes and the turning points so that data related to the driving track of the target vehicle are sorted. The above process can be performed on a vehicle-mounted terminal (e.g., a driving computer) of the target vehicle or on a mobile terminal, thereby facilitating the data consolidation in case of weak or missing network signals.
And then, carrying out driving track simulation on the angle nodes, the angle peak values, the distance nodes and the turning points to generate driving simulation tracks, then importing the driving simulation tracks into a map for matching, and finally correcting the driving simulation tracks based on the map to obtain the driving tracks of the target vehicle. The driving simulation track is accurately generated, and the position of the target vehicle is accurately positioned.
The driving track generation method in the embodiment of the application can accurately record the moving process of the target vehicle, can still obtain the driving track of the target vehicle under the condition that the intensity of a GPS signal is weak or the GPS signal is absent, and solves the technical problem that the driving track of the vehicle can be obtained under the condition that the GPS signal cannot be used for realizing positioning.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic diagram of a driving trajectory generation method in an embodiment of the present application;
FIG. 2 is a graphical illustration of the change in turning angle and distance traveled over a historical time period in an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating steps for marking the driving distance according to an embodiment of the present disclosure;
FIG. 4 is a schematic illustration of the marking of the turning angle and the distance traveled in an embodiment of the present application;
FIG. 5 is a schematic diagram illustrating a step of performing a driving trace simulation according to an embodiment of the present application;
fig. 6 is a schematic diagram illustrating a step of guiding the driving simulation trajectory into a map for matching in an embodiment of the present application;
FIG. 7 is a schematic diagram illustrating a step of correcting the driving simulation trajectory based on the map according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a trajectory generation device according to an embodiment of the present application;
fig. 9 is a schematic diagram of the second marking module 30 according to an embodiment of the present application;
FIG. 10 is a schematic diagram of the driving trace simulation module 40 according to an embodiment of the present application;
FIG. 11 is a schematic diagram of the matching module 50 according to an embodiment of the present application;
fig. 12 is a schematic diagram of the road network matching sub-module 51 according to an embodiment of the present application;
FIG. 13 is a schematic diagram of the trajectory correction module 60 according to an embodiment of the present application;
fig. 14 is a block diagram of a basic structure of the computer device according to an embodiment of the present application.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are shown in the drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
Fig. 1 is a schematic diagram of a driving trajectory generation method in an embodiment of the present application.
As illustrated in fig. 1, the method for generating a driving trajectory includes:
s1: the turning angle and the travel distance of the target vehicle within a historical time period are acquired.
Referring to fig. 2, a diagram of the change of turning angle and driving distance in a historical time period is shown in an embodiment of the present application.
As illustrated in fig. 2, in some embodiments of the present application, the curved portion of the turning angle indicates that the vehicle is traveling in a turn, and the straight portion of the turning angle indicates that the vehicle is traveling straight. The turning angle and the travel distance have the following relationship: at a certain time point, the value of the turning angle of the target vehicle at the time point can be acquired, and the value of the running distance of the target vehicle at the time point can also be acquired. It is possible to know at which point in the travel distance the target vehicle has performed the turning operation through the turning angle in fig. 1, and to acquire the angle value of the turning. In some embodiments of the present application, the turning angle and the travel distance are collected by on-board sensors (e.g., a steering wheel turning angle sensor and an odometer sensor) of the target vehicle. The trigger condition for acquiring the turning angle and the travel distance of the target vehicle includes: when the strength of the GPS signal of the target vehicle and the strength of the GPS signal of the mobile terminal in the target vehicle are lower than a threshold value, and when the target vehicle receives a trigger instruction. The target vehicle can continuously acquire the turning angle and the running distance through an on-board sensor in the running process.
S2: mark the angle node and the angle peak value of turn angle, adjacent two the angle variation between the angle node equals the variation threshold, the turn angle is at the ascending maximum value of a turn direction and is the angle peak value.
As illustrated in fig. 2, in some embodiments of the present application, the amount of angle change is an accumulated value, and does not take into account the direction of the change in turning. Further, the angle peak may occur between two of the angle change amounts.
S3: and marking a distance node and a turning point on the driving distance according to the angle node and the angle peak value on the turning angle.
Referring to fig. 3, a schematic diagram of a step of marking the travel distance in an embodiment of the present application is shown.
As illustrated in fig. 3, in some embodiments of the present application, the step of marking a distance node and a turning point on the travel distance from the angle node and the angle peak on the turning angle comprises:
s31: and recording the angle node and the time point of the angle peak value.
S32: and marking the distance node and the turning point on the driving distance according to the angle node and the time point of the angle peak value.
Referring to fig. 4, the turning angle and the driving distance are marked according to an embodiment of the present application.
As illustrated in fig. 4, the angle nodes a1, a2, a3, a4 of the turning angle are marked. The angle peak q1 is also marked between angle node a2 and angle node a 3. The time points t1, t2, t4, t5 and t3 of the angle nodes a1, a2, a3 and a4 and the angle peak q1 are recorded, and the distance nodes x1, x2, x3 and x4 are marked corresponding to the time points t1, t2, t4 and t 5. The turning point y1 is marked corresponding to the time point t 3. The angle change amount between two adjacent angle nodes of the angle nodes a1, a2, a3 and a4 is equal to a change amount threshold m. The smaller the value of the variation threshold m is, the thinner the cutting of the turning angle is, and the lower the defect degree of the finally simulated driving track on the details is.
S4: and carrying out driving track simulation on the angle nodes, the angle peak values, the distance nodes and the turning points to generate a driving simulation track.
Fig. 5 is a schematic diagram illustrating a step of performing a driving trace simulation according to an embodiment of the present application.
As illustrated in fig. 5, in some embodiments of the present application, the step of performing a driving trajectory simulation on the angle node, the angle peak, the distance node, and the turning point to generate a driving simulation trajectory includes:
s41: and establishing a relational database among the angle nodes, the angle peak values, the distance nodes and the turning points.
Referring to the following table, the table represents a mapping relationship between the angle node, the angle peak, the distance node, and the turning point in an embodiment of the present application.
| Point in time | Angle node/angle peak | Distance node/turning point |
| t1 | a1 | x1 |
| t2 | a2 | x2 |
| t3 | q1 | y1 |
| t4 | a3 | x3 |
| t5 | a4 | x4 |
As illustrated in the table, the angle nodes and the angle peaks are sorted in the order of each time point, and the distance nodes and the turning points corresponding to the angle nodes and the angle peaks are sorted in the same order, so that the angle nodes and the angle peaks form a mapping with the corresponding distance nodes and turning points.
S42: and calling the relational database to simulate the distance nodes and the turning points into the driving simulation track according to a time process.
S5: and importing the driving simulation track into a map for matching.
In some embodiments of the present application, the step of matching the driving simulation trajectory to the map includes:
s51: and matching the driving simulation track with a road network in the map to obtain a first preselected driving track.
Referring to fig. 6, a schematic diagram of a step of guiding the driving simulation trajectory into a map for matching in an embodiment of the present application is shown.
As illustrated in fig. 6, in some embodiments of the present application, the step of matching the driving simulation trajectory with the road network in the map to obtain a first preselected driving trajectory comprises:
s511: and judging at least one driving track in the road network according to the lane at the starting point of the driving simulation track.
S512: and calculating the deviation rate of the driving track relative to the driving simulation track in the map.
S513: and taking the running track with the minimum deviation rate as the first preselected running track.
In some embodiments of the present application, the deviation rate is calculated according to the formula δ — 1 — λ, where δ represents the deviation rate, and λ represents the coincidence rate of the driving simulation trajectory with the road network in the map; and capturing the length of the driving simulation track in the road network in the map, and then calculating the ratio of the length to the driving distance to obtain the coincidence rate.
S6: and correcting the driving simulation track based on the map to obtain the driving track of the target vehicle.
Referring to fig. 7, a schematic step of correcting the driving simulation trajectory based on the map in an embodiment of the present application is shown.
As illustrated in fig. 7, in some embodiments of the present application, the step of obtaining the driving trace of the target vehicle by correcting the driving simulation trace based on the map includes:
s61: and correcting the driving tracks at the distance nodes and the turning points in the driving simulation tracks by combining the map.
S62: and correcting the offset of the driving simulation track in the map so that the driving simulation track is totally on the road network of the map.
S63: and generating the driving track of the target vehicle according to the corrected driving simulation track.
In an embodiment of the present application, a turning angle and a travel distance of a target vehicle within a historical period of time are first acquired when the intensity of a GPS signal of the target vehicle or the intensity of a GPS signal of a mobile terminal in the target vehicle is below a threshold value or when the target vehicle receives a trigger instruction. Therefore, the data acquisition path is free from the dependence on the GPS signal, so that the data related to the running track of the target vehicle can be recorded under the condition that the strength of the GPS signal is weak or the GPS signal is not available.
Secondly, marking angle nodes and angle peak values of the turning angles, marking distance nodes and turning points on the driving distance according to the angle nodes and the angle peak values on the turning angles, and establishing a relational database among the angle nodes, the angle peak values, the distance nodes and the turning points so that data related to the driving track of the target vehicle are sorted. The above process can be performed on a vehicle-mounted terminal (e.g., a driving computer) of the target vehicle or on a mobile terminal, thereby facilitating the data consolidation in case of weak or missing network signals.
And then, carrying out driving track simulation on the angle nodes, the angle peak values, the distance nodes and the turning points to generate driving simulation tracks, then importing the driving simulation tracks into a map for matching, and finally correcting the driving simulation tracks based on the map to obtain the driving tracks of the target vehicle. The driving simulation track is accurately generated, and the position of the target vehicle is accurately positioned.
The driving track generation method in the embodiment of the application can accurately record the moving process of the target vehicle, can still obtain the driving track of the target vehicle under the condition that the intensity of a GPS signal is weak or the GPS signal is absent, and solves the technical problem that the driving track of the vehicle can be obtained under the condition that the GPS signal cannot be used for realizing positioning.
An embodiment of the application discloses a driving track generation device.
Fig. 8 is a schematic diagram of a driving trace generating device according to an embodiment of the present application.
As illustrated in fig. 8, the trajectory generation device includes:
the system comprises an acquisition module 10 for acquiring a turning angle and a driving distance of a target vehicle in a historical time period.
A first marking module 20, configured to mark an angle node and an angle peak of the turning angle, which are adjacent two, an angle variation between the angle nodes is equal to a variation threshold, and a maximum value of the turning angle in a turning direction is the angle peak.
And the second marking module 30 is configured to mark a distance node and a turning point on the driving distance according to the angle node and the angle peak value on the turning angle.
And the driving track simulation module 40 is configured to perform driving track simulation on the angle node, the angle peak value, the distance node and the turning point to generate a driving simulation track.
And the matching module 50 is used for importing the driving simulation track into a map for matching.
And a driving track correcting module 60, configured to correct the driving simulation track based on the map to obtain the driving track of the target vehicle.
Fig. 9 is a schematic diagram of the second marking module 30 according to an embodiment of the present application.
As illustrated in fig. 9, in some embodiments of the present application, the second marking module 30 comprises:
a recording submodule 31, configured to record the angle node and a time point of the angle peak.
A point marking submodule 32, configured to mark the distance node and the turning point on the travel distance according to the angle node and the time point of the angle peak.
Fig. 10 is a schematic diagram of the driving trace simulation module 40 according to an embodiment of the present application.
As illustrated in fig. 10, in some embodiments of the present application, the driving trajectory simulation module 40 includes:
and the relational database submodule 41 is configured to establish a relational database among the angle node, the angle peak, the distance node, and the turning point.
And the simulation submodule 42 is used for calling the relational database to simulate the distance nodes and the turning points into the driving simulation track according to a time process.
Referring to fig. 11, a schematic diagram of the matching module 50 in an embodiment of the present application is shown.
As illustrated in fig. 11, in some embodiments of the present application, the matching module 50 includes: and the road network matching submodule 51 is used for matching the driving simulation track with a road network in the map to obtain a first preselected driving track.
Fig. 12 is a schematic diagram of the road network matching sub-module 51 according to an embodiment of the present application.
As illustrated in fig. 12, in some embodiments of the present application, the road network matching sub-module 51 includes:
the judging unit 511 is configured to judge at least one driving trajectory in the road network according to a lane at a starting point of the driving simulation trajectory.
An offset rate calculating unit 512, configured to calculate an offset rate of the driving trajectory in the map relative to the driving simulation trajectory.
A selection unit 513, configured to take the travel trajectory with the smallest deviation ratio as the first preselected travel trajectory.
In some embodiments of the present application, the deviation ratio calculation unit 512 calculates the deviation ratio according to a formula δ — 1 — λ, where δ represents the deviation ratio and λ represents a coincidence ratio of the driving simulation trajectory with the road network in the map. And capturing the length of the driving simulation track in the road network in the map, and then calculating the ratio of the length to the driving distance to obtain the coincidence rate.
Fig. 13 is a schematic diagram of the driving trace correcting module 60 according to an embodiment of the present application.
As illustrated in fig. 13, in some embodiments of the present application, the driving trajectory correction module 60 includes:
and the first correction sub-module 61 is used for correcting the driving tracks at the distance nodes and the turning points in the driving simulation tracks by combining the map.
And the second correction submodule 62 is used for correcting the offset of the driving simulation track in the map, so that the driving simulation track is entirely on the road network of the map.
And the generation submodule 63 is configured to generate the driving trajectory of the target vehicle according to the corrected driving simulation trajectory.
In the application, the driving track generating device can be used for accurately recording the moving process of the target vehicle, and the driving track of the target vehicle can still be obtained under the condition that the intensity of a GPS signal is weak or the GPS signal is not available. The driving track generating device solves the technical problem that the driving track of the vehicle can not be obtained under the condition that the GPS signal can not be utilized to realize positioning.
Some embodiments of the present application disclose a computer device.
Please refer to fig. 14, which is a block diagram illustrating a basic structure of the computer device according to an embodiment of the present application.
As illustrated in fig. 14, the computer device comprises at least one first memory 801 and at least one first processor 802, the first memory 801 having stored therein a computer program which, when executed by the first processor 802, implements a trajectory generation method applied to the computer device. The computer device receives and transmits data through the first network interface 803.
It is noted that only a computer device having components 801 and 803 is shown in FIG. 14, but it is understood that not all of the illustrated components are required and that more or fewer components may alternatively be implemented. Those skilled in the art will appreciate that the computer device herein may be any device capable of performing automatic numerical calculations and/or information processing according to pre-set or stored instructions, and the hardware includes, but is not limited to, a microprocessor, an Application Specific Integrated Circuit (ASIC), a Programmable gate array (FPGA), a Digital Signal Processor (DSP), an embedded device, and the like.
The first memory 801 includes at least one type of readable storage medium including a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc. In some embodiments, the first storage 801 may be an internal storage unit, such as the hard disk or the memory. In other embodiments, the first memory 801 may be an external storage device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Of course, the first memory 801 may include an internal storage unit and an external storage device. In this embodiment, the first memory 801 is generally used for storing and operating a computer device and various types of application software, for example, the first memory 801 is used for storing program codes of a driving trace generation method applied to the computer device. Further, the first memory 801 may be used to temporarily store various types of data that have been output or are to be output.
The first processor 802 may be a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor, or other data Processing chip in some embodiments. In this embodiment, the first processor 802 is configured to execute the program code stored in the first memory 801 or process data, for example, execute the program code of the driving trace generation method applied to the computer device.
An embodiment of the present application discloses a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the trajectory generation method applied to the computer device.
Finally, it should be noted that the above-mentioned embodiments illustrate only some of the embodiments of the present application, and are therefore not to be considered limiting of its scope, for the invention may admit to other equally effective embodiments. This application is capable of embodiments in many different forms and is provided for the purpose of enabling a thorough understanding of the disclosure of the application. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that the present application may be practiced without modification of the specific details or with equivalent replacement of some of the features. All equivalent structures made by using the contents of the specification and the drawings of the present application are directly or indirectly applied to other related technical fields and are within the protection scope of the present application.
Claims (10)
1. A method for generating a driving track is characterized by comprising the following steps:
acquiring a turning angle and a driving distance of a target vehicle in a historical time period;
marking angle nodes and angle peak values of the turning angle, wherein the angle variation between two adjacent angle nodes is equal to a variation threshold, and the maximum value of the turning angle in one turning direction is the angle peak value;
marking a distance node and a turning point on the driving distance according to the angle node and the angle peak value on the turning angle;
carrying out driving track simulation on the angle nodes, the angle peak values, the distance nodes and the turning points to generate driving simulation tracks;
leading the driving simulation track into a map for matching;
and correcting the driving simulation track based on the map to obtain the driving track of the target vehicle.
2. The driving trace generation method according to claim 1, wherein the step of marking a distance node and a turning point on the driving distance from the angle node and the angle peak on the turning angle comprises: recording the angle node and the time point of the angle peak; marking the distance node and the turning point on the travel distance according to the angle node and the time point of the angle peak.
3. The method according to claim 1, wherein the step of performing a driving trace simulation on the angle node, the angle peak, the distance node, and the turning point to generate a driving simulation trace comprises: establishing a relational database among the angle nodes, the angle peak values, the distance nodes and the turning points;
and calling the relational database to simulate the distance nodes and the turning points into the driving simulation track according to a time process.
4. The method for generating a driving trajectory according to claim 1, wherein the step of matching the driving simulation trajectory with the map comprises: and matching the driving simulation track with a road network in the map to obtain a first preselected driving track.
5. The driving trajectory generation method according to claim 4, wherein the step of matching the driving simulation trajectory with a road network in the map to obtain a first preselected driving trajectory comprises:
judging at least one driving track in the road network according to the lane at the starting point of the driving simulation track;
calculating the deviation rate of the driving track relative to the driving simulation track in the map;
and taking the running track with the minimum deviation rate as the first preselected running track.
6. The method according to claim 5, wherein the deviation rate is calculated according to a formula δ -1- λ, where δ represents the deviation rate and λ represents a coincidence rate of the driving simulation trajectory with a road network in the map; and capturing the length of the driving simulation track in the road network in the map, and then calculating the ratio of the length to the driving distance to obtain the coincidence rate.
7. The driving path generation method according to claim 1, wherein the step of obtaining the driving path of the target vehicle by correcting the driving simulation path based on the map comprises:
correcting the driving tracks at the distance nodes and the turning points in the driving simulation tracks by combining the map;
correcting the offset of the driving simulation track in the map so that the driving simulation track falls on the road network of the map;
and generating the driving track of the target vehicle according to the corrected driving simulation track.
8. A trajectory generation device, comprising:
the acquisition module is used for acquiring the turning angle and the running distance of the target vehicle in a historical time period;
the first marking module is used for marking angle nodes and angle peak values of the turning angle, the angle variation between every two adjacent angle nodes is equal to a variation threshold, and the maximum value of the turning angle in one turning direction is the angle peak value;
the second marking module is used for marking a distance node and a turning point on the driving distance according to the angle node and the angle peak value on the turning angle;
the driving track simulation module is used for carrying out driving track simulation on the angle nodes, the angle peak values, the distance nodes and the turning points to generate driving simulation tracks;
the matching module is used for importing the driving simulation track into a map for matching;
and the driving track correction module is used for correcting the driving simulation track based on the map to obtain the driving track of the target vehicle.
9. Computer device comprising a memory and a processor, characterized in that the memory has stored therein a computer program which, when being executed by the processor, carries out the steps of the trajectory generation method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the driving trajectory generation method according to any one of claims 1 to 7.
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| CN201910670496.6A CN110595487B (en) | 2019-07-24 | 2019-07-24 | Method and device for generating driving track, computer equipment and storage medium |
| PCT/CN2019/116927 WO2021012492A1 (en) | 2019-07-24 | 2019-11-10 | Traveling trajectory generation method and apparatus, and computer device and storage medium |
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| CN110595487B (en) | 2024-07-23 |
| WO2021012492A1 (en) | 2021-01-28 |
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