CN110798793B - Method and device for determining relative position between vehicles - Google Patents
Method and device for determining relative position between vehicles Download PDFInfo
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- CN110798793B CN110798793B CN201910783758.XA CN201910783758A CN110798793B CN 110798793 B CN110798793 B CN 110798793B CN 201910783758 A CN201910783758 A CN 201910783758A CN 110798793 B CN110798793 B CN 110798793B
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
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- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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Abstract
The application provides a method and a device for determining relative positions between vehicles. The method comprises the following steps: the method comprises the steps that a receiver receives first position coordinates sent by a first vehicle and second position coordinates sent by a second vehicle, and the lane directions of the first vehicle and the second vehicle are the same; the processor determines a reference line according to the first position coordinate and the second position coordinate, wherein the reference line passes through the first position coordinate or the second position coordinate; the processor determines a second included angle between the connecting direction of the first vehicle and the second vehicle and the reference line according to the first position coordinate, the second position coordinate and a third position coordinate of the auxiliary point on the reference line; and the processor determines the relative position of the first vehicle and the second vehicle according to a first included angle and a second included angle between the lane direction and the reference line. According to the embodiment of the application, a high-precision map and a lane-level positioning technology are not relied on, and the positioning cost is reduced.
Description
Technical Field
The application relates to the technical field of vehicle networking communication, in particular to a method and a device for determining relative positions between vehicles.
Background
At present, in order to determine the relative position between vehicles, a high-precision map is used to determine the GPS (Global Positioning System) coordinates of a target vehicle at time t, then the Positioning accuracy is increased at a high cost to reach a lane level, and finally the relative position between vehicles is determined according to the acquired information.
However, the above-described method of determining the relative position between vehicles has the following disadvantages: 1) the method has the advantages that the method for replacing the map with the high-precision map is not completely feasible, and if the mobile phone map is difficult to achieve high precision; 2) the positioning technology can reach the lane level in a short time and is not completely feasible; 3) the cost of vehicle-road coordination is high. It can be seen that the current methods for determining the relative position between vehicles have problems of technical implementation impracticality and high cost.
Disclosure of Invention
An object of the present application is to provide a method and an apparatus for determining a relative position between vehicles, which are capable of reducing the cost of vehicle positioning without depending on high-precision maps and lane-level positioning technologies when determining the relative position between vehicles at least to some extent.
According to an aspect of an embodiment of the present application, a method for determining a relative position between vehicles is applied, the method including:
the method comprises the steps that a receiver receives first position coordinates sent by a first vehicle and second position coordinates sent by a second vehicle, and the lane directions of the first vehicle and the second vehicle are the same;
the processor determines a reference line according to the first position coordinate and the second position coordinate, wherein the reference line passes through the first position coordinate or the second position coordinate;
the processor determines a second included angle between the connecting line direction of the first vehicle and the second vehicle and the reference line according to the first position coordinate, the second position coordinate and a third position coordinate of the auxiliary point on the reference line;
and the processor determines the relative position of the first vehicle and the second vehicle according to a first included angle between the lane direction and the reference line and the second included angle.
According to an aspect of an embodiment of the present application, there is provided an inter-vehicle relative position determining apparatus including:
the receiving module is used for receiving a first position coordinate sent by a first vehicle and a second position coordinate sent by a second vehicle, and the lane directions of the first vehicle and the second vehicle are the same;
a first determining module, configured to determine a reference line according to the first position coordinate and the second position coordinate, where the reference line passes through the first position coordinate or the second position coordinate;
the second determining module is used for determining a second included angle between the connecting line direction of the first vehicle and the second vehicle and the reference line according to the first position coordinate, the second position coordinate and a third position coordinate of an auxiliary point on the reference line;
and the position determining module is used for determining the relative position of the first vehicle and the second vehicle according to a first included angle and a second included angle between the lane direction and the reference line.
The technical scheme provided by the embodiment of the application can have the following beneficial effects: according to the technical scheme, a first position coordinate of a first vehicle and a second position coordinate of a second vehicle which are identical in lane direction are obtained, a reference line passing through any position coordinate is determined according to the first position coordinate and the second position coordinate, and a second included angle between the direction of a connecting line of the first vehicle and the second vehicle and the reference line is determined according to the first position coordinate, the second position coordinate and the position coordinate of an auxiliary point on the reference line; and then determining the relative position of the first vehicle and the second vehicle according to the first included angle and the second included angle between the lane direction and the reference line. According to the technical scheme, the relative position between the vehicles can be determined without depending on a high-precision map and a lane-level positioning technology, so that the cost of vehicle positioning can be reduced.
Other features and advantages of the present application will be apparent from the following detailed description, or may be learned by practice of the application.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
In the drawings:
fig. 1 shows a system architecture diagram of an application of the inter-vehicle relative position determination method according to one embodiment of the present application.
FIG. 2 shows a flow chart of a method of determining relative position between vehicles according to one embodiment of the present application.
Fig. 3 shows a detailed flowchart of step S230 according to an embodiment of the present application.
Fig. 4 shows a detailed flowchart of step S230 according to another embodiment of the present application.
Fig. 5 shows a detailed flowchart of step S240 according to an embodiment of the present application.
FIG. 6 shows a flow chart of a method for determining relative position between vehicles according to one embodiment of the present application.
FIG. 7 shows a flow chart of a method of determining relative position between vehicles according to another embodiment of the present application.
Fig. 8 shows a scene display diagram of the method for determining the relative position between vehicles in the application scenario of the vehicle collision probability calculation according to an embodiment of the present application.
Fig. 9 shows a result presentation diagram of a collision probability of the inter-vehicle relative position determination method applied in an application scenario of vehicle collision probability calculation according to an embodiment of the present application.
Fig. 10 shows a block diagram of an inter-vehicle relative position determining apparatus according to an embodiment of the present application.
FIG. 11 shows a schematic structural diagram of a computer system of an electronic device according to one embodiment of the present application.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the present application and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more example embodiments. In the following description, numerous specific details are provided to give a thorough understanding of example embodiments of the present application. One skilled in the relevant art will recognize, however, that the subject matter of the present application can be practiced without one or more of the specific details, or with other methods, components, steps, and so forth. In other instances, well-known structures, methods, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the application.
Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
An architecture to which the inter-vehicle relative position determination method of the embodiment of the present application is applied will be described below with reference to fig. 1.
As shown in fig. 1, the inter-vehicle relative position determining method is applied to a vehicle relative position determining system. The system for determining the relative position between vehicles comprises a vehicle 101, a vehicle 102 and a network side device 103, wherein the vehicle 101 and the vehicle 102 are two vehicles with the same lane direction, vehicle-mounted communication terminals are mounted on the vehicle 101 and the vehicle 102, and the vehicle 101 and the vehicle 102 can acquire the position information of the vehicle through positioning modules of the vehicle-mounted communication terminals. In addition to this, the communication modules of the in-vehicle communication terminals on the vehicle 101 and the vehicle 102 can communicate with the network-side device 103 through the network. The network-side device 103 may be any computing device capable of providing positioning computing capability, including a receiver and a processor, which are the subjects of execution of the inter-vehicle relative position determination method according to the embodiments of the present invention. The communication network may be any communication link capable of providing a communication connection between the network-side device 103 and the vehicles 101, 102. For example, it may be a mobile communication network, or a core network of a mobile communication network.
In one embodiment, the network-side device 103 is deployed in the cloud, and performs data interaction with the vehicle 101 and the vehicle 102 through a network. The vehicle 101 or the vehicle 102 transmits a request for determining the relative position between the vehicle 101 and the vehicle 102 to the network-side device 103 via the network, the network-side device 103 acquires the first position coordinates of the vehicle 101 and the second position coordinates of the vehicle 102 based on the request for determining the relative position, and determines a reference line passing through the first position coordinates or the second position coordinates, selecting an auxiliary point on the reference line according to the first position coordinate or the second position coordinate, and obtaining a third position coordinate of the auxiliary point, thereby obtaining a second included angle between the connecting line direction of the vehicle 101 and the vehicle 102 and the reference line, taking the selected reference line direction as the 0-degree direction, obtaining a first included angle between the reference line and the lane direction, the relative position relationship between the first vehicle 101 and the second vehicle 102 is obtained according to the first angle and the second angle, and transmits the result of the relative position to the relative position requester vehicle 101 and the vehicle 102.
In an embodiment, the first position coordinate, the second position coordinate, and the third position coordinate acquired by the network-side device 103 may be used to calculate a length of three sides of a triangular structure formed by the vehicle 101, the vehicle 102, and the auxiliary point, that is, a first connection length between the vehicle 101 and the auxiliary point, a second connection length between the first vehicle 101 and the vehicle 102, and a third connection length between the vehicle 102 and the auxiliary point, and a second included angle between the connection direction of the vehicle 101 and the vehicle 102 and the reference line is calculated according to the first connection length, the second connection length, and the third connection length, so as to obtain an included angle between the connection direction of the vehicle 101 and the vehicle 102 and the lane direction according to the first included angle and the second included angle between the reference line and the lane direction.
In one implementation, the relative positional relationship includes a lateral distance between the vehicle 101 and the vehicle 102, the lateral distance being a horizontal distance of the vehicle 101 and the vehicle 102 perpendicular to the lane direction, and a longitudinal distance relationship, the longitudinal distance being a vertical distance of the vehicle 101 and the vehicle 102 parallel to the lane direction. The first included angle and the second included angle acquired by the network-side device 103 may be used to calculate a third included angle between the connection line direction of the vehicle 101 and the vehicle 102 and the lane direction, and according to the third included angle, the third connection line length, and the equatorial radius parameter, the transverse distance and the longitudinal distance between the vehicle 101 and the vehicle 102 may be calculated.
It should be understood that the number of vehicles 101, 102, and network-side devices 103 in fig. 1 is merely illustrative. There may be any number of vehicles 101, 102, and network-side devices 103, as desired for implementation.
According to one embodiment of the present application, there is provided an inter-vehicle relative position determination method. The processing method of the vehicle information may be performed by a vehicle communication terminal or a server, which may be the network-side device 103 shown in fig. 1, including a receiver and a processor.
As shown in fig. 2, the method includes:
step S210, a receiver receives a first position coordinate sent by a first vehicle and a second position coordinate sent by a second vehicle, wherein the lane directions of the first vehicle and the second vehicle are the same;
step S220, the processor determines a reference line according to the first position coordinate and the second position coordinate, wherein the reference line passes through the first position coordinate or the second position coordinate;
step S230, the processor determines a second included angle between the connecting line direction of the first vehicle and the second vehicle and the reference line according to the first position coordinate, the second position coordinate and a third position coordinate of an auxiliary point on the reference line;
step S240, the processor determines the relative position of the first vehicle and the second vehicle according to the first included angle and the second included angle between the lane direction and the reference line.
These steps are described in detail below.
Step S210, a receiver receives a first position coordinate sent by a first vehicle and a second position coordinate sent by a second vehicle, and the lane directions of the first vehicle and the second vehicle are the same.
In the above steps, the first vehicle and the second vehicle are both vehicles equipped with positioning modules, and the positioning modules can adopt GPS positioning or Beidou positioning, so as to obtain the first position coordinate of the first vehicle and the second position coordinate of the second vehicle. It will be appreciated that the acquired GPS location coordinates include latitude and longitude coordinates.
The manner of acquiring the first position coordinates of the first vehicle and the second position coordinates of the second vehicle includes two cases. In one case, the vehicle communication terminals of the first vehicle and the second vehicle obtain the first position coordinates and the second position coordinates by the positioning module function, and transmit them to the server. In another case, when the server needs to acquire the position coordinates, the server sends requests to the vehicle-mounted communication terminals of the first vehicle and the second vehicle, and after receiving the requests, the vehicle-mounted communication terminals of the first vehicle and the second vehicle generate the requested first position coordinates and second position coordinates through the positioning module function and send the first position coordinates and second position coordinates to the server.
The same lane direction means that the first vehicle and the second vehicle are in the same driving direction, and the first vehicle and the second vehicle may be in the same lane and the same direction or in different lanes and the same direction.
In step S220, after the first position coordinate and the second position coordinate are obtained, the processor may determine a reference line according to the first position coordinate and the second position coordinate, and for convenience of subsequent calculation, the direction of the reference line is taken as a 0-degree direction, where the determined reference line cannot coincide with a connection line between the first position coordinate and the second position coordinate, that is, the reference line passes through either the first position coordinate or the second position coordinate.
Step S230, the processor determines a second included angle between the connection direction of the first vehicle and the second vehicle and the reference line according to the first position coordinate, the second position coordinate, and a third position coordinate of the auxiliary point located on the reference line.
In one embodiment of the present invention,third position coordinate lat of auxiliary point 3 (t),ln g 3 (t) may be calculated from the first position coordinate or the second position coordinate by any of the following equations:
lat 3 (t)＝lat(t)+Δcosα 1 ,lig 3 (t)＝ln g(t)+Δsinα 1 (formula one)
lat 3 (t)＝lat(t)-Δsinα 2 ,ln g 3 (t)＝ln g(t)+Δcosα 2 (formula two)
lat 3 (t)＝lat(t)-Δsinα 3 ,ln g 3 (t)＝ln g(t)-Δcosα 3 (formula three)
lat 3 (t)＝lat(t)+Δsinα 4 ,ln g 3 (t)＝ln g(t)-Δcosα 4 (formula four)
Wherein lat (t) is latitude coordinate contained in the first position coordinate or the second position coordinate, ln g (t) is longitude coordinate contained in the first position coordinate or the second position coordinate, 0 < delta < 1 DEG, alpha 1 、α 2 、α 3 、α 4 Is the angle between the reference line and the north, east, south and west directions.
As described above, since the reference line passes through either the first position coordinate or the second position coordinate, in order to ensure that the auxiliary point calculated by the above formula is a point located on the reference line, the relationship between the reference line and the first position coordinate or the second position coordinate must be considered when determining the auxiliary point by using any of the above formulas.
Optionally, when the reference line passes through the first position coordinate, the processor determines an auxiliary point according to the first position coordinate of the first vehicle; and the processor determines an auxiliary point according to the second position coordinate of the second vehicle when the reference line passes through the second position coordinate. .
If the reference line passes through the first position coordinate, when the third position coordinate of the auxiliary point is calculated according to any formula, the latitude coordinate and the longitude coordinate contained in the first position coordinate are used for calculation; if the reference line passes through the second position coordinate, and the third position coordinate of the auxiliary point is calculated according to any formula, the latitude coordinate and the longitude coordinate contained in the second position coordinate are used for calculation.
In step S230, the processor determines a second included angle between the connection direction of the first vehicle and the second vehicle and the reference line in two ways.
In one embodiment, as shown in fig. 3, step S230 includes:
step S2301, respectively determining a first connecting line length of the first vehicle and the auxiliary point, a second connecting line length of the first vehicle and the second vehicle, and a third connecting line length of the second vehicle and the auxiliary point according to the first position coordinate, the second position coordinate and the third position coordinate;
step S2302, calculating a second included angle between the connection direction of the first vehicle and the second vehicle and the reference direction according to the first connection length, the second connection length, and the third connection length.
In step S2301, since the first vehicle, the second vehicle and the auxiliary point may form a triangle structure, after the first position coordinate of the first vehicle, the second position coordinate of the second vehicle and the third position coordinate of the auxiliary point are obtained, the three-side length of the triangle, that is, the first connection length a (t) of the first vehicle and the auxiliary point, the second connection length b (t) of the first vehicle and the second vehicle and the third connection length c (t) of the second vehicle and the auxiliary point, may be obtained by using the following calculation formulas.
a 2 (t)＝(coslat 2 (t)cosln g 2 (t)-coslat 1 (t)cosln g 1 (t)) 2 +(coslat 2 (t)sinln g 2 (t)-coslat 1 (t)sinln g 1 (t)) 2 +(sinlat 2 (t)-sinlat 1 (t)) 2 (formula five)
b 2 (t)＝(coslat 3 (t)cosln g 3 (t)-coslat 1 (t)cosln g 1 (t)) 2 +(coslat 3 (t)sinln g 3 (t)-coslat 1 (t)sinln g 1 (t)) 2 +(sinlat 3 (t)-sinlat 1 (t)) 2 (formula six)
c 2 (t)＝(coslat 3 (t)cosln g 3 (t)-coslat 2 (t)cosln g 2 (t)) 2 +(coslat 3 (t)sinln g 3 (t)-coslat 2 (t)sinln g 2 (t)) 2 +(sinlat 3 (t)-sinlat 2 (t)) 2 (formula seven)
Step S2302, calculating a second included angle between the connection direction of the first vehicle and the second vehicle and the reference direction according to the first connection length, the second connection length, and the third connection length.
In one embodiment, any included angle of the triangle can be obtained by using the formula of cosine law when the lengths of three sides of the triangle are known. Therefore, a first connecting line length a (t) of the first vehicle and the auxiliary point, a second connecting line length b (t) of the first vehicle and the second vehicle, and a third connecting line length c (t) of the second vehicle and the auxiliary point are substituted into the following cosine theorem formula eight to obtain a second included angle β between the connecting line direction of the first vehicle and the second vehicle and the reference direction.
In one embodiment, as shown in fig. 4, step S230 includes:
step S2301', the first position coordinate, the second position coordinate and the third position coordinate are converted into radian coordinates in a space rectangular coordinate system, and a first radian coordinate, a second radian coordinate and a third radian coordinate are respectively obtained;
step S2302', determining a first connection length of the first vehicle and the auxiliary point, a second connection length of the first vehicle and the second vehicle, and a third connection length of the second vehicle and the auxiliary point, respectively, according to the first radian coordinate, the second radian coordinate, and the third radian coordinate;
step S2303', a second included angle between the connection direction of the first vehicle and the second vehicle and the reference direction is calculated according to the first connection length, the second connection length, and the third connection length.
In step S2301', a spatial rectangular coordinate system is constructed with the center of the earth as the origin of coordinates, the direction of the origin pointing point (0 ° N,0 ° E) as the positive x-axis direction, the direction of the origin pointing point (0 ° N,90 ° E) as the positive y-axis direction, and the origin pointing point 90 ° N as the positive z-axis direction, and the first position coordinate, the second position coordinate, and the third position coordinate are respectively radian-converted into radian coordinates (u, u) 1t ,w 1,t )，(u 2,t ,w 2,t ) And (u) 3,t ,w 3,t )。
The first position coordinate (lat) can be expressed by the following formula 1 (t),lng 1 (t)), second position coordinates (lat) 2 (t),lng 2 (t)) and third position coordinates (lat) 3 (t),lng 3 (t)) are converted to radian coordinates:
step S2302 '-step S2303' is similar to step S2301-step S2302, and thus is not repeated. When the first connecting length a (t) of the first vehicle and the auxiliary point, the second connecting length b (t) of the first vehicle and the second vehicle, and the third connecting length c (t) of the second vehicle and the auxiliary point are respectively obtained by calculation through the formulas five to seven, the longitude and latitude coordinates corresponding to the formulas five to seven need to be replaced by the corresponding radian coordinates.
Step S240, determining the relative position of the first vehicle and the second vehicle according to the first included angle and the second included angle between the lane direction and the reference line.
In step S240, the first included angle is an included angle between the lane direction and the reference line, and since the reference line direction is the selected 0 degree direction, it is determined that the first included angle can be expressed according to the driving displacement of the vehicle and the 0 degree direction included angle.
The second included angle is an included angle between a connecting line direction of the first vehicle and the second vehicle and the reference direction, and the determination of the second included angle can be obtained in the manner described above, and is not described herein again.
Determining the relative position of the first vehicle and the second vehicle from the first angle and the second angle may include a lateral distance and a longitudinal distance of the first vehicle and the second vehicle, a number of lanes between the first vehicle and the second vehicle, and a fore-aft positional relationship of the first vehicle and the second vehicle.
In one embodiment, as shown in fig. 5, step S240 includes:
step S2401, obtaining a third included angle between the connecting line direction of the first vehicle and the second vehicle and the lane direction according to the first included angle and the second included angle;
step S2402, obtaining a transverse distance and a longitudinal distance between the first vehicle and the second vehicle according to the third included angle, the third connecting line length and the equator radius parameter;
step S2403, obtaining the relative position of the first vehicle and the second vehicle according to the transverse distance and the longitudinal distance.
In step S2401, the first angle is an angle between the lane direction and the reference line, and the second angle is an angle between a line connecting the first vehicle and the second vehicle and the reference line, so that a third angle between the line connecting the first vehicle and the second vehicle and the lane direction is a difference between the first angle and the second angle.
In step S2402, the lateral distance between the first vehicle and the second vehicle is a horizontal distance between the first vehicle and the second vehicle in a direction perpendicular to the lane direction, and the longitudinal distance between the first vehicle and the second vehicle is a vertical distance between the first vehicle and the second vehicle in the lane direction. The third link length is a third link length of the second vehicle with the auxiliary point.
In one embodiment, after obtaining a third Angle between the direction of the connecting line between the first vehicle and the second vehicle and the lane direction, according to the third Angle, the third connecting line length c (t), and the equatorial radius parameter R, the product of the three obtained by the formula c (t) sin (Angle) R is used as the transverse distance between the first vehicle and the second vehicle, and the product of the three obtained by the formula c (t) cos (Angle) R is used as the longitudinal distance between the first vehicle and the second vehicle.
As described above, the relative position of the first vehicle and the second vehicle may be expressed as the minimum number of lanes between the first vehicle and the second vehicle in addition to the lateral distance and the longitudinal distance between the first vehicle and the second vehicle.
In one embodiment, as shown in fig. 6, the method further comprises:
step S250, the processor acquires lane width parameters;
step S260, the processor calculates a ratio between the lateral distance and the lane width parameter to obtain a minimum lane number between the first vehicle and the second vehicle.
In step S250, the lane width parameter is a width of a road where the vehicle is located, where the width is acquired in advance by the vehicle-mounted communication terminal of the vehicle, and the acquisition method may be that a camera mounted on the vehicle is used in combination with a computer vision algorithm to identify a lane line, the lane width of the road where the vehicle is located is identified, and then the vehicle-mounted communication terminal sends the lane line to the processor of the server, which is not limited herein.
In step S260, the minimum number of lanes between the first vehicle and the second vehicle may be calculated by a ratio of the lateral distance between the first vehicle and the second vehicle to the lane width parameter, and the minimum number of lanes is a number obtained by rounding the ratio.
In an embodiment, the relative position between the vehicles further includes a front-rear position relationship of the vehicles, and in this embodiment, as shown in fig. 7, the method may further include:
step S250', the receiver receives a fourth position coordinate sent by the first vehicle after preset time;
step S260', the processor determines the front-rear position relationship between the first vehicle and the second vehicle according to the first position coordinate, the second position coordinate and the fourth position coordinate.
In step S250', after the first vehicle travels for a preset time, the position coordinate of the first vehicle is also changed, and the changed position coordinate is obtained by a positioning method to obtain a fourth position coordinate of the first vehicle, where the preset time may be any time length preset according to an actual situation, and the invention is not limited herein.
In step S260', the front-rear positional relationship between the first vehicle and the second vehicle is determined mainly based on the acquired first positional coordinate, second positional coordinate, and fourth positional coordinate.
In order to facilitate the judgment of the front-back position relationship, the acquired position coordinates can be converted in the same coordinate system, for example, the south latitude 0 degree to the south latitude 180 degree and the west longitude 0 degree to the west longitude 180 degree are converted into the north latitude 0 degree to the north latitude-180 degree and the east longitude 0 degree to the east longitude-180 degree, so that the first position coordinate, the second position coordinate and the third position coordinate are in the same coordinate system, and the front-back position relationship can be conveniently calculated and judged.
In one embodiment, step S260' specifically includes:
calculating a first coordinate difference of the fourth position coordinate and the first position coordinate in the same coordinate system, wherein the first coordinate difference comprises a first latitude coordinate difference and a first longitude coordinate difference;
calculating a second coordinate difference of the second position coordinate and the first position coordinate in the same coordinate system, wherein the second coordinate difference comprises a second latitude coordinate difference and a second longitude coordinate difference;
if the first latitude coordinate difference and the second latitude coordinate difference are both positive values or both negative values, or the first longitude coordinate difference and the second longitude coordinate difference are both positive values or both negative values, determining that the first vehicle is in front of the second vehicle;
determining that the first vehicle is behind the second vehicle if one of the first and second latitudinal coordinate differences is negative and the other is positive, or one of the first and second longitudinal coordinate differences is negative and the other is positive.
In this embodiment, the front-rear positional relationship between the first vehicle and the second vehicle is determined from the first coordinate difference and the second coordinate difference by calculating a first coordinate difference in the same coordinate system between the fourth position coordinate of the first vehicle and the first position coordinate, and calculating a second coordinate difference in the same coordinate system between the first position coordinate of the first vehicle and the second position coordinate of the second vehicle.
The first coordinate difference obtained through calculation comprises a first latitude coordinate difference and a first longitude coordinate difference, the second coordinate difference obtained through calculation comprises a second latitude coordinate difference and a second longitude coordinate difference, and if the first latitude coordinate difference and the second latitude coordinate are both positive values or both negative values, or the first longitude coordinate difference and the second longitude coordinate difference are both positive values or both negative values, the first vehicle is determined to be in front of the second vehicle; if one of the first and second latitude coordinate differences is a negative value and the other is a positive value, or one of the first and second longitude coordinate differences is a negative value and the other is a positive value, determining that the first vehicle is behind the second vehicle.
Fig. 8 shows a scene display diagram of the method for determining the relative position between vehicles in the application scenario of the vehicle collision probability calculation according to an embodiment of the present application.
As shown in fig. 8, 8 vehicles, including vehicles 1, 2, 3, 4, 5, 6, 7, 8, travel in the same direction, that is, in the same lane direction as 7 vehicles, travel on the road, and in order to calculate the collision probability between two vehicles, it is necessary to obtain physical quantities including lane width, target vehicle, vehicle type, and earth radius from the cloud or other places, and determine the travel direction (the travel direction is the lane direction), and the relative positions of any two vehicles on the same lane on the road can be determined by using the method disclosed in this application.
In one embodiment of the present invention, position coordinates (lat) of any two vehicles of 8 vehicles traveling on the road at time t (t represents any time) are obtained by the network-side device 120 1 (t),ln g 1 (t)) and (lat) 2 (t),ln g 2 (t)) based on the position coordinates (lat) 1 (t),ln g 1 (t)) and (lat) 2 (t),ln g 2 (t)) determining a passing position coordinate (lat) 1 (t),ln g 1 (t)) or (lat) 2 (t),ln g 2 (t)) reference line and position coordinates (lat) of auxiliary point 3 (t),ln g 3 (t)), the auxiliary point position coordinates are located on the reference line based on the three position coordinates (lat) 1 (t),ln g 1 (t))、(lat 2 (t),ln g 2 (t))、(lat 3 (t),ln g 3 (t)) calculating to obtain the length of the three sides, thereby obtaining a second included angle between the connecting line direction of the two vehicles and the reference line, and determining the relative position between any two vehicles in the road according to the first included angle and the second included angle between the lane direction and the reference line, wherein the relative position comprises the transverse distance between the two vehicles, the longitudinal distance and the minimum number of the two vehicles. By repeating the steps, the relative position between any two vehicles in the same lane can be obtained.
And (3) calculating the driving risk in a field theory (gravitational field theory, spring field theory and Doppler effect) mode based on the information, calculating to obtain the collision probability between the vehicles, outputting in a matrix form and giving a safety distance early warning.
Fig. 9 shows a display diagram of the collision probability of the inter-vehicle relative position determination method according to an embodiment of the present application in an application scenario of vehicle collision probability calculation, where as shown in fig. 9, the collision probability is output in a matrix form, and the ith row and jth column elements of the matrix represent the probability that the vehicle j collides with the vehicle i. For example, the first row and second column element 0.12 indicates that the probability that the vehicle 2 collides with the vehicle 1 is 0.12, and the second row and first column element 0.15 indicates that the probability that the vehicle 1 collides with the vehicle 2 is 0.15. Besides, the lowest part of the matrix also gives a blind road danger prompt. For example, the vehicle 1 is presented with a "blind zone of the leading lane".
As shown in fig. 10, according to an embodiment of the present application, there is provided an inter-vehicle relative position determining apparatus characterized by comprising:
the receiving module 1010 is configured to receive a first position coordinate sent by a first vehicle and a second position coordinate sent by a second vehicle, where lane directions of the first vehicle and the second vehicle are the same;
a first determining module 1020, configured to determine a reference line according to the first position coordinate and the second position coordinate, where the reference line passes through the first position coordinate or the second position coordinate;
a second determining module 1030, configured to determine a second included angle between a connection direction of the first vehicle and the second vehicle and the reference line according to the first position coordinate, the second position coordinate, and a third position coordinate of the auxiliary point located on the reference line;
the position determining module 1040 is configured to determine a relative position of the first vehicle and the second vehicle according to a first included angle between the lane direction and the reference line and the second included angle.
In one embodiment, the second determining module 1030 comprises:
a link length determination unit, configured to determine a first link length between the first vehicle and the auxiliary point, a second link length between the first vehicle and the second vehicle, and a third link length between the second vehicle and the auxiliary point according to the first position coordinate, the second position coordinate, and the third position coordinate;
and the second included angle calculating unit is used for calculating a second included angle between the reference line and the connecting direction of the first vehicle and the second vehicle according to the first connecting line length, the second connecting line length and the third connecting line length.
In one embodiment, the location determination module 1040 includes:
a third included angle determining unit, configured to obtain a third included angle between a connection direction of the first vehicle and the second vehicle and the lane direction according to the first included angle and the second included angle;
the distance determining unit is used for obtaining the transverse distance and the longitudinal distance between the first vehicle and the second vehicle according to the third included angle, the third connecting line length and the equator radius parameter;
and the relative position determining unit is used for obtaining the relative position of the first vehicle and the second vehicle according to the transverse distance and the longitudinal distance.
In one embodiment, the apparatus further comprises:
the lane width acquisition module is used for acquiring lane width parameters;
and the ratio calculation module is used for calculating the ratio between the transverse distance and the lane width parameter to obtain the minimum lane number between the first vehicle and the second vehicle.
In one embodiment, the second determining module 1030 comprises:
the conversion unit is used for converting the first position coordinate, the second position coordinate and the third position coordinate into radian coordinates in a space rectangular coordinate system to respectively obtain a first radian coordinate, a second radian coordinate and a third radian coordinate;
a connecting line length determining unit, configured to determine a first connecting line length between the first vehicle and the auxiliary point, a second connecting line length between the first vehicle and the second vehicle, and a third connecting line length between the second vehicle and the auxiliary point according to the first radian coordinate, the second radian coordinate, and the third radian coordinate;
and the second included angle calculating unit is used for calculating a second included angle between the connection direction of the first vehicle and the second vehicle and the reference direction according to the first connection length, the second connection length and the third connection length.
In one embodiment, the apparatus further comprises:
the position coordinate obtaining unit is used for receiving a fourth position coordinate sent by the first vehicle after preset time;
a front-rear position determination unit configured to determine a front-rear position relationship between the first vehicle and the second vehicle according to the first position coordinate, the second position coordinate, and the fourth position coordinate.
In one embodiment, the front-back position determination unit is configured to:
calculating a first coordinate difference of the fourth position coordinate and the first position coordinate in the same coordinate system, wherein the first coordinate difference comprises a first latitude coordinate difference and a first longitude coordinate difference;
calculating a second coordinate difference of the second position coordinate and the first position coordinate in the same coordinate system, wherein the second coordinate difference comprises a second latitude coordinate difference and a second longitude coordinate difference;
if the first latitude coordinate difference and the second latitude coordinate difference are both positive values or both negative values, or the first longitude coordinate difference and the second longitude coordinate difference are both positive values or both negative values, determining that the first vehicle is in front of the second vehicle;
determining that the first vehicle is behind the second vehicle if one of the first and second latitudinal coordinate differences is negative and the other is positive, or one of the first and second longitudinal coordinate differences is negative and the other is positive.
In one embodiment, the apparatus further comprises:
the processor determines an auxiliary point according to the first position coordinate of the first vehicle when the reference line passes through the first position coordinate;
and the processor determines an auxiliary point according to the second position coordinate of the second vehicle when the reference line passes through the second position coordinate.
In one embodiment, the third position coordinate (lat) of the auxiliary point is determined according to any of the following formulas 3 (t),ln g 3 (t))：
lat 3 (t)＝lat(t)+Δcosα 1 ,lig 3 (t)＝ln g(t)+Δsinα 1 ，
lat 3 (t)＝lat(t)-Δsinα 2 ,ln g 3 (t)＝ln g(t)+Δcosα 2
lat 3 (t)＝lat(t)-Δsinα 3 ,ln g 3 (t)＝ln g(t)-Δcosα 3
lat 3 (t)＝lat(t)+Δsinα 4 ,ln g 3 (t)＝ln g(t)-Δcosα 4
Wherein lat (t) is latitude coordinate contained in the first position coordinate or the second position coordinate, ln g (t) is longitude coordinate contained in the first position coordinate or the second position coordinate, 0 < delta < 1 DEG, alpha 1 、α 2 、α 3 、α 4 Is the angle between the reference direction and the true north, the true east, the true south and the true west direction respectively.
The server 101 in the embodiment of the present application is described below with reference to fig. 11. The server 101 shown in fig. 11 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 11, the server 101 is represented in the form of a general purpose computing device. The components of the server 101 may include, but are not limited to: at least one processing unit 1110, at least one memory unit 1120, and a bus 1130 that couples various system components including the memory unit 1120 and the processing unit 1110. Wherein the storage unit stores program code that is executable by the processing unit 1110 to cause the processing unit 1110 to perform steps according to various exemplary embodiments of the present invention as described in the description part of the above exemplary methods of the present specification. For example, the processing unit 1110 may perform the various steps as shown in fig. 4.
The storage unit 1120 may include a readable medium in the form of a volatile memory unit, such as a random access memory unit (RAM)11201 and/or a cache memory unit 11202, and may further include a read only memory unit (ROM) 11203.
The server 101 may also communicate with one or more external devices 700 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the web page display engine 202, and/or with any devices (e.g., router, modem, etc.) that enable the web page display engine 202 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 650. Also, the web page display engine 202 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 the network adapter 1160. As shown, the network adapter 1160 communicates with the other modules of the web page display engine 202 via bus 1130. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the web page display engine 202, 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.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to make a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) execute the method according to the embodiments of the present application.
In an exemplary embodiment of the present application, there is also provided a computer program medium having stored thereon computer readable instructions which, when executed by a processor of a computer, cause the computer to perform the method described in the above method embodiment section.
According to an embodiment of the present application, there is also provided a program product for implementing the method in the above method embodiment, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited in this regard and, in the present document, a 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.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A 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 readable storage medium include: an electrical connection having one or more wires, a portable disk, 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.
A computer readable signal medium may include a propagated data signal with 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 readable signal medium may also be any readable medium that is not a 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 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.
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, 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 computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the application. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
Moreover, although the steps of the methods herein are depicted in the drawings in a particular order, this does not require or imply that the steps must be performed in this particular order, or that all of the depicted steps must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions, etc.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the embodiments of the present application.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
Claims (8)
1. A method for determining a relative position between vehicles, comprising:
the method comprises the steps that a receiver receives first position coordinates sent by a first vehicle and second position coordinates sent by a second vehicle, and the lane directions of the first vehicle and the second vehicle are the same;
the processor determines a reference line according to the first position coordinate and the second position coordinate, wherein the reference line passes through the first position coordinate or the second position coordinate;
the processor is according to any of the followingDetermining a third position coordinate (lat) of an auxiliary point located on said reference line 3 (t),lng 3 (t))：
lat 3 (t)＝lat(t)+Δcosα 1 ,lig 3 (t)＝lng(t)+Δsinα 1 ，
lat 3 (t)＝lat(t)-Δsinα 2 ,lng 3 (t)＝lng(t)+Δcosα 2 ，
lat 3 (t)＝lat(t)-Δsinα 3 ,lng 3 (t)＝lng(t)-Δcosα 3 ，
lat 3 (t)＝lat(t)+Δsinα 4 ,lng 3 (t)＝lng(t)-Δcosα 4 ，
Wherein, 0<Δ<<1°，α 1 、α 2 、α 3 、α 4 Is the included angle between the reference direction and the north, east, south and west directions respectively; lat (t) is a latitude coordinate included in the first position coordinate, and lng (t) is a longitude coordinate included in the first position coordinate when the reference line passes through the first position coordinate; lat (t) is a latitude coordinate included in the second position coordinate, and lng (t) is a longitude coordinate included in the second position coordinate when the reference line passes through the second position coordinate;
the processor determines a second included angle between the connecting line direction of the first vehicle and the second vehicle and the reference line according to the first position coordinate, the second position coordinate and the third position coordinate of the auxiliary point;
and the processor determines the relative position of the first vehicle and the second vehicle according to a first included angle and a second included angle between the lane direction and the reference line.
2. The method of claim 1, wherein determining a second angle between a direction of a line connecting the first vehicle and the second vehicle and the reference line based on the first position coordinate, the second position coordinate, and a third position coordinate of an auxiliary point located on the reference line comprises:
respectively determining a first connecting line length of the first vehicle and the auxiliary point, a second connecting line length of the first vehicle and the second vehicle and a third connecting line length of the second vehicle and the auxiliary point according to the first position coordinate, the second position coordinate and the third position coordinate;
and calculating to obtain a second included angle between the reference line and the connecting direction of the first vehicle and the second vehicle according to the first connecting line length, the second connecting line length and the third connecting line length.
3. The method of claim 2, wherein determining the relative position of the first vehicle and the second vehicle from the first angle and the second angle between the lane direction and the reference line comprises:
obtaining a third included angle between the connecting line direction of the first vehicle and the second vehicle and the lane direction according to the first included angle and the second included angle;
obtaining the transverse distance and the longitudinal distance between the first vehicle and the second vehicle according to the third included angle, the third connecting line length and the equator radius parameter;
and obtaining the relative position of the first vehicle and the second vehicle according to the transverse distance and the longitudinal distance.
4. The method of claim 3, further comprising:
the processor obtains a lane width parameter;
the processor calculates a ratio between the lateral distance and the lane width parameter to obtain a minimum lane number between the first vehicle and the second vehicle.
5. The method of claim 1, wherein determining a second angle between a direction of a line connecting the first vehicle and the second vehicle and the reference line based on the first position coordinate, the second position coordinate, and a third position coordinate of an auxiliary point located on the reference line comprises:
converting the first position coordinate, the second position coordinate and the third position coordinate into radian coordinates in a space rectangular coordinate system to respectively obtain a first radian coordinate, a second radian coordinate and a third radian coordinate;
respectively determining a first connecting line length of the first vehicle and the auxiliary point, a second connecting line length of the first vehicle and the second vehicle and a third connecting line length of the second vehicle and the auxiliary point according to the first radian coordinate, the second radian coordinate and the third radian coordinate;
and calculating to obtain a second included angle between the connection direction of the first vehicle and the second vehicle and the reference direction according to the first connection length, the second connection length and the third connection length.
6. The method of claim 1, further comprising:
the receiver receives a fourth position coordinate sent by the first vehicle after a preset time;
the processor determines the front-back position relationship of the first vehicle and the second vehicle according to the first position coordinate, the second position coordinate and the fourth position coordinate.
7. The method of claim 6, wherein the determining the fore-aft positional relationship of the first vehicle and the second vehicle from the first position coordinate, the second position coordinate, and the fourth position coordinate comprises:
calculating a first coordinate difference of the fourth position coordinate and the first position coordinate in the same coordinate system, wherein the first coordinate difference comprises a first latitude coordinate difference and a first longitude coordinate difference;
calculating a second coordinate difference of the second position coordinate and the first position coordinate in the same coordinate system, wherein the second coordinate difference comprises a second latitude coordinate difference and a second longitude coordinate difference;
if the first latitude coordinate difference and the second latitude coordinate difference are both positive values or both negative values, or the first longitude coordinate difference and the second longitude coordinate difference are both positive values or both negative values, determining that the first vehicle is in front of the second vehicle;
determining that the first vehicle is behind the second vehicle if one of the first and second latitudinal coordinate differences is a negative value and the other is a positive value, or one of the first and second longitudinal coordinate differences is a negative value and the other is a positive value.
8. An inter-vehicle relative position determining apparatus, characterized by comprising:
the receiving module is used for receiving a first position coordinate sent by a first vehicle and a second position coordinate sent by a second vehicle, and the lane directions of the first vehicle and the second vehicle are the same;
a first determining module, configured to determine a reference line according to the first position coordinate and the second position coordinate, where the reference line passes through the first position coordinate or the second position coordinate;
a second determination module to:
determining a third position coordinate (lat) of an auxiliary point located on the reference line according to any one of the following formulas 3 (t),lng 3 (t))：
lat 3 (t)＝lat(t)+Δcosα 1 ,lig 3 (t)＝lng(t)+Δsinα 1 ，
lat 3 (t)＝lat(t)-Δsinα 2 ,lng 3 (t)＝lng(t)+Δcosα 2 ，
lat 3 (t)＝lat(t)-Δsinα 3 ,lng 3 (t)＝lng(t)-Δcosα 3 ，
lat 3 (t)＝lat(t)+Δsinα 4 ,lng 3 (t)＝lng(t)-Δcosα 4 ，
Wherein, 0<Δ<<1°，α 1 、α 2 、α 3 、α 4 Is the included angle between the reference direction and the north, east, south and west directions respectively; lat (t) is a latitude coordinate included in the first position coordinate, and lng (t) is a longitude coordinate included in the first position coordinate when the reference line passes through the first position coordinate; lat (t) is a latitude coordinate included in the second position coordinate, and lng (t) is a longitude coordinate included in the second position coordinate when the reference line passes through the second position coordinate;
determining a second included angle between the connecting line direction of the first vehicle and the second vehicle and the reference line according to the first position coordinate, the second position coordinate and the third position coordinate of the auxiliary point;
and the position determining module is used for determining the relative position of the first vehicle and the second vehicle according to a first included angle and a second included angle between the lane direction and the reference line.
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