CN110969574A - Vehicle-mounted panoramic map creation method and device - Google Patents
Vehicle-mounted panoramic map creation method and device Download PDFInfo
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
- G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
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- G—PHYSICS
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- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0808—Diagnosing performance data
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
- G07C5/085—Registering performance data using electronic data carriers
- G07C5/0866—Registering performance data using electronic data carriers the electronic data carrier being a digital video recorder in combination with video camera
Abstract
The invention provides a vehicle-mounted panoramic map creating method and a device, wherein the method comprises the steps of obtaining clock information, vehicle speed information, steering wheel corner information and a vehicle panoramic all-around image; calculating the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval according to the clock information, the vehicle speed information and the steering wheel corner information; and splicing the vehicle panoramic all-around images corresponding to the plurality of time intervals according to the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval to form a continuous panoramic road image. According to the invention, the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval are calculated through the vehicle speed and the steering wheel rotation angle, the single vehicle-mounted panoramic all-around image is spliced into the continuous panoramic road image, and the panoramic road image is superposed on the satellite map through the relationship between the vehicle positioning and the clock information to form the vehicle-mounted panoramic map, so that the problems of high cost and time consumption caused by the prior art are solved.
Description
Technical Field
The invention relates to the technical field of automobile control, in particular to a vehicle-mounted panoramic map creation method and device.
Background
A key technology of intelligent driving is decision control according to a high-precision map, which is the eyes of an intelligent driving vehicle. The existing GPS positioning precision can only reach 3 meters for civil use and 0.3 meter for military use, and can only be used as global positioning reference in the field of intelligent driving. And in the running process of the vehicle, the information of the surrounding environment of the vehicle has more important significance for the actual automatic driving. Therefore, the existing satellite-based positioning navigation application cannot completely cover the requirement of intelligent driving. Wherein centimeter-level high-precision positioning still needs more signal input to be completed.
The intelligent driving vehicle has extremely high dependency on environment information, and particularly, various uncertainties exist in the road environment where the intelligent driving vehicle is located, so that the intelligent driving vehicle cannot make decisions. The existing part of methods adopt high-precision maps, do not depend on data sensed by the implementation environment, and achieve the purpose of improving the acquisition of the surrounding environment information by vehicles. However, the acquisition of high-precision maps highly depends on expensive sensors such as laser radars and the like, and the acquisition of a large number of roads is expensive and time-consuming.
Disclosure of Invention
In order to solve the technical problem, the invention provides a vehicle-mounted panoramic map creating method and device.
The invention provides a vehicle-mounted panoramic map creating method, which comprises the following steps:
acquiring clock information, vehicle speed information, steering wheel corner information and a vehicle panoramic all-round view image;
calculating the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval according to the clock information, the vehicle speed information and the steering wheel angle information;
and splicing the vehicle panoramic all-around images corresponding to the plurality of time intervals according to the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval to form a continuous panoramic road image.
Further, the method further comprises:
acquiring vehicle positioning information corresponding to a plurality of time intervals;
and according to the vehicle positioning information corresponding to the plurality of time intervals, overlapping the continuous panoramic road image to a satellite map corresponding to the vehicle positioning information to form a vehicle-mounted panoramic map.
Further, the step of calculating the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval according to the clock information, the vehicle speed information and the steering wheel angle information specifically includes:
calculating a vehicle transverse motion component and a vehicle longitudinal motion component corresponding to each time interval according to the clock information, the vehicle speed information and the steering wheel angle information;
and calculating the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval according to the vehicle transverse movement component and the vehicle longitudinal movement component corresponding to each time interval.
Further, the calculation method of the vehicle lateral motion component and the vehicle longitudinal motion component corresponding to each time interval specifically includes:
[Xt1,Yt1]＝[∫υt1*cos(αt1)dt,∫υt1*sin(αt1)dt]；
[Xt2,Yt2]＝[∫υt2*cos(αt2)dt,∫υt2*sin(αt2)dt]；
wherein, Xt1、Yt1For each time interval starting time corresponding vehicle transverse motion component and vehicle longitudinal motion component, Xt2、Yt2The transverse motion component and the longitudinal motion component of the vehicle corresponding to the ending moment of each time interval; upsilon ist1For each time interval starting time corresponds to a vehicle speed vt2For each time interval ending time corresponding vehicle speed αt1For each time intervalThe start time corresponds to the steering wheel angle, and α t2 corresponds to the steering wheel angle at the start time of each time interval.
Further, the calculation method of the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval specifically includes:
L＝((Xt1-Xt2)2+(Yt1-Yt2)2)2；
α＝arctan((Yt1-Yt2)/(Xt1-Xt2))；
wherein L is the vehicle movement distance corresponding to each time interval, and the α is the vehicle movement deviation angle corresponding to each time interval.
Further, before calculating the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval according to the clock information, the vehicle speed information and the steering wheel angle information, the method further comprises:
when the wheel slip is detected, acquiring the lateral acceleration and the longitudinal acceleration of the vehicle when the wheel slip occurs;
the vehicle speed at the time of wheel slip is calculated from the vehicle lateral acceleration and the vehicle longitudinal acceleration at the time of wheel slip.
Further, the calculation method of the vehicle speed when the wheel slips specifically includes:
υt＝∫(ωt 2+γt 2)0.5dt；
wherein upsilon istThe vehicle speed at which the wheel slips, ωtThe said gamma being the longitudinal acceleration at which the wheel is slippingtThe lateral acceleration at which the wheel is slipping.
The invention provides a vehicle-mounted panoramic map creating device, which comprises:
the device comprises an acquisition unit, a display unit and a control unit, wherein the acquisition unit is used for acquiring clock information, vehicle speed information, steering wheel corner information and a vehicle panoramic all-around image;
the calculating unit is used for calculating the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval according to the clock information, the vehicle speed information and the steering wheel corner information;
and the splicing unit is used for splicing the vehicle panoramic all-around images corresponding to the plurality of time intervals according to the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval to form a continuous panoramic road image.
Further, the obtaining unit is further configured to obtain vehicle positioning information corresponding to a plurality of time intervals; the device further comprises an image processing unit, wherein the image processing unit is used for superposing the continuous panoramic road image to a satellite map corresponding to the vehicle positioning information according to the vehicle positioning information corresponding to the plurality of time intervals to form a vehicle-mounted panoramic map.
Further, the computing unit is specifically configured to:
calculating a vehicle transverse motion component and a vehicle longitudinal motion component corresponding to each time interval according to the clock information, the vehicle speed information and the steering wheel angle information;
and calculating the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval according to the vehicle transverse movement component and the vehicle longitudinal movement component corresponding to each time interval.
The implementation of the invention has the following beneficial effects:
according to the invention, the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval are calculated through the speed of a vehicle and the steering wheel rotation angle, the single vehicle-mounted panoramic view image is spliced into a continuous panoramic road image, and the panoramic road image is superposed on the satellite map through the relationship between the vehicle positioning and the clock information to form the vehicle-mounted panoramic map.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a method for creating a vehicle-mounted panoramic map according to an embodiment of the present invention.
Fig. 2 is a vehicle-mounted panoramic all-around image provided by the embodiment of the invention.
Fig. 3 is a schematic diagram of a vehicle-mounted panoramic map creation method provided by an embodiment of the invention.
Fig. 4 is a continuous panoramic road image provided by an embodiment of the present invention.
Fig. 5 is a schematic diagram of a motion vector stitching result provided in the embodiment of the present invention.
Fig. 6 is a diagram illustrating a result of keypoint matching according to an embodiment of the present invention.
Fig. 7 is a schematic diagram of an optimization process performed on a result after motion vector stitching according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of an optimization result of a result obtained after motion vector stitching according to the embodiment of the present invention.
Fig. 9 is a block diagram of an in-vehicle panoramic map creation apparatus according to an embodiment of the present invention.
Detailed Description
The method comprises the steps of collecting vehicle panoramic all-round-view images, splicing the vehicle panoramic all-round-view images into continuous panoramic road images, and superposing the panoramic road images onto a satellite map corresponding to vehicle positioning information to form a vehicle-mounted panoramic map; the method and the device are further described in the following with reference to the accompanying drawings and examples.
Embodiments of a vehicle-mounted panoramic map creation method and device provided by the invention will be described in detail below.
As shown in fig. 1, an embodiment of the present invention provides a method for creating a vehicle-mounted panoramic map, where the method includes:
step S101, clock information, vehicle speed information, steering wheel angle information and a vehicle panoramic all-around image are obtained, wherein the clock information comprises a plurality of time intervals.
In this embodiment, acquiring clock information means periodically acquiring clock information after a vehicle is started, and acquiring vehicle speed information, steering wheel angle information and a vehicle panoramic all-around image, wherein the length of the period can be set according to actual application requirements; the vehicle panoramic view image is acquired through the panoramic view camera.
In this embodiment, clock information is acquired periodically, the period can be set according to the frame rate of the camera, the clock information includes a plurality of time intervals, for example, the clock information includes 7 points 5 minutes 1 second 0 ms, 7 points 5 minutes 1 second 30 ms, 7 points 5 minutes 1 second 60 ms and 7 points 5 minutes 1 second 90 ms, the 7 points 5 minutes 1 second 0 ms to 7 points 5 minutes 1 second 30 ms form one time interval, the 7 points 5 minutes 1 second 30 ms to 7 points 5 minutes 1 second 60 ms form one time interval, and the 7 points 5 minutes 1 second 60 ms to 7 points 5 minutes 1 second 90 ms form one time interval.
And S102, calculating the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval according to the clock information, the vehicle speed information and the steering wheel angle information.
In this embodiment, the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval are calculated through the clock information, the vehicle speed information and the steering wheel angle information, so that the vehicle panoramic all-around images corresponding to each time interval can be spliced, and the panoramic road image is formed by splicing a plurality of vehicle panoramic all-around images.
The specific calculation of the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval is described in other embodiments of the present invention.
And S103, splicing the vehicle panoramic all-around images corresponding to the plurality of time intervals according to the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval to form a continuous panoramic road image.
In the steps, a panoramic road image is formed, in order to form a clear satellite map, vehicle positioning information corresponding to a plurality of time intervals is acquired, the corresponding relation between the panoramic road information and the vehicle positioning information is established according to the corresponding relation between the vehicle positioning information and the plurality of time intervals and the corresponding relation between the panoramic road image and clock information, and the continuous panoramic road image is superposed on the satellite map corresponding to the vehicle positioning information to form the vehicle-mounted panoramic map.
The vehicle panoramic all-around images are acquired in real time through each vehicle, the vehicle panoramic maps of partial areas are formed, the collected vehicle panoramic maps are used for being shared by the intelligent automobile, and the vehicle panoramic all-around images can be formed quickly at low cost.
As shown in fig. 2, an embodiment of the present invention provides a vehicle panoramic all-round view image, and fig. 2 is a vehicle panoramic all-round view image obtained by an all-round view camera at any time.
As shown in fig. 3, an embodiment of the present invention provides an in-vehicle panoramic map creation method, in which calculating a vehicle movement distance and a vehicle movement deviation angle corresponding to each time interval according to clock information, vehicle speed information, and steering wheel angle information includes:
referring to fig. 3, in the present embodiment, there are three vehicle panoramic all-around images captured by t0, t1 and t2 with adjacent clocks, which are respectively indicated as 31, 32 and 33 in the figure, and these three images are independent, and the vehicle movement distance and the vehicle movement deviation angle corresponding to a time interval are calculated by taking the time interval of t1 and t2 as an example.
S301, according to the clock information, the vehicle speed information and the steering wheel angle information, calculating a vehicle transverse motion component and a vehicle longitudinal motion component corresponding to each time interval.
The manner of calculating the vehicle lateral motion component and the vehicle longitudinal motion component corresponding to each time interval is specifically as follows:
[Xt1,Yt1]＝[∫υt1*cos(αt1)dt,∫υt1*sin(αt1)dt]；
[Xt2,Yt2]＝[∫υt2*cos(αt2)dt,∫υt2*sin(αt2)dt]；
wherein, Xt1、Yt1For each vehicle corresponding to the starting time of the time intervalComponent of transverse and longitudinal vehicle movement, Xt2、Yt2The transverse motion component and the longitudinal motion component of the vehicle corresponding to the ending moment of each time interval; upsilon ist1For each time interval starting time corresponds to a vehicle speed vt2For each time interval ending time corresponding vehicle speed αt1For each time interval starting time corresponding to a steering wheel angle, αt2The steering wheel angle is associated with the end of each time interval.
It should be noted that, before the step of calculating the lateral motion component and the longitudinal motion component of the vehicle corresponding to each time interval, there may be a special situation that the vehicle detects wheel slip, and at this time, the vehicle speed signal may have an inaccurate situation, and the vehicle speed needs to be replaced by calculation, which includes:
when the wheel slip is detected, acquiring the lateral acceleration and the longitudinal acceleration of the vehicle when the wheel slip occurs; for example to obtain omegatFor the longitudinal acceleration at wheel slip, gamma is obtainedtThe lateral acceleration at which the wheel is slipping.
Calculating the vehicle speed when the wheel slips according to the lateral acceleration and the longitudinal acceleration of the vehicle when the wheel slips, wherein the calculation mode is upsilont＝∫(ωt 2+γt 2)0.5dt。
It should be noted that, at this time, due to the wheel slip, the data obtained from the background of the vehicle may lack accuracy, and therefore the vehicle speed at which the wheel slip is calculated is the standard.
Step S302, according to the vehicle lateral motion component and the vehicle longitudinal motion component corresponding to each time interval, the method for calculating the vehicle motion distance and the vehicle motion deviation angle corresponding to each time interval specifically includes:
L＝((Xt1-Xt2)2+(Yt1-Yt2)2)2；
α＝arctan((Yt1-Yt2)/(Xt1-Xt2))；
wherein L is the vehicle movement distance corresponding to each time interval, and the α is the vehicle movement deviation angle corresponding to each time interval.
The vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval are calculated through the embodiment, and then the images formed through splicing are shown in fig. 4, wherein L1 is the vehicle movement distance from the time of a time interval t0 to the time of t1, L2 is the vehicle movement distance from the time of a time interval t1 to the time of t2, and α1Is a vehicle motion deviation angle corresponding to a time interval from t0 to t1, α2Is a vehicle motion deviation angle corresponding to the time interval t1 to t 2.
Referring to fig. 5 to 8, the vehicle-mounted panoramic images are spliced to form a continuous panoramic road image, and the continuous panoramic road image can be spliced by the motion vector splicing method shown in fig. 5 or by the key point matching method shown in fig. 6, fig. 7 is a process for optimizing the result of the motion vector splicing method, and fig. 7 is a mode for performing key point matching by using a surf operator to complete final time domain splicing map optimization; the complexity of the search algorithm is high when the single panoramic image is used for carrying out key point calculation, a t sampling domain splicing method under the condition of combining the vehicle motion posture is provided, and the instantaneity of the key point search algorithm can be improved. Calculating the movement distance under 60km/h to be 0.56m aiming at the image sampling rate of 30pf/s, and respectively calculating the pixel offset of a spliced image to determine a primary splicing interval aiming at [ Xt, Yt ] movement components; fig. 8 is the result of the result optimization of the motion vector stitching method.
As shown in fig. 9, an embodiment of the present invention provides an in-vehicle panoramic map creating apparatus, including:
an obtaining unit 91, configured to obtain clock information, vehicle speed information, steering wheel angle information, and a vehicle panoramic all-around image, where the clock information includes a plurality of time intervals;
the calculating unit 92 is used for calculating the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval according to the clock information, the vehicle speed information and the steering wheel angle information;
and the splicing unit 93 is configured to splice the vehicle panoramic all-around images corresponding to the multiple time intervals according to the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval, so as to form a continuous panoramic road image.
Further, the obtaining unit 91 is further configured to obtain vehicle positioning information corresponding to a plurality of time intervals;
the device further comprises an image processing unit 94, wherein the image processing unit 94 is configured to superimpose the continuous panoramic road image on a satellite map corresponding to the vehicle positioning information according to the vehicle positioning information corresponding to the plurality of time intervals to form a vehicle-mounted panoramic map.
Further, the calculating unit 92 is specifically configured to:
calculating a vehicle transverse motion component and a vehicle longitudinal motion component corresponding to each time interval according to the clock information, the vehicle speed information and the steering wheel angle information;
and calculating the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval according to the vehicle transverse movement component and the vehicle longitudinal movement component corresponding to each time interval.
The implementation of the invention has the following beneficial effects:
according to the invention, the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval are calculated through the vehicle speed and the steering wheel turning angle, the single vehicle-mounted panoramic all-around image is spliced into a continuous panoramic road image, and the panoramic road image is superposed on the satellite map through the relationship between the vehicle positioning and the clock information to form the vehicle-mounted panoramic map.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. An on-vehicle panoramic map creation method, characterized by comprising:
acquiring clock information, vehicle speed information, steering wheel corner information and a vehicle panoramic all-round view image, wherein the clock information comprises a plurality of time intervals;
calculating the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval according to the clock information, the vehicle speed information and the steering wheel angle information;
and splicing the vehicle panoramic all-around images corresponding to the plurality of time intervals according to the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval to form a continuous panoramic road image.
2. The method of claim 1, wherein the method further comprises:
acquiring vehicle positioning information corresponding to a plurality of time intervals;
and according to the vehicle positioning information corresponding to the plurality of time intervals, overlapping the continuous panoramic road image to a satellite map corresponding to the vehicle positioning information to form a vehicle-mounted panoramic map.
3. The method according to claim 1, wherein the step of calculating the vehicle movement distance and the vehicle movement deviation angle for each time interval based on the clock information, the vehicle speed information and the steering wheel angle information comprises:
calculating a vehicle transverse motion component and a vehicle longitudinal motion component corresponding to each time interval according to the clock information, the vehicle speed information and the steering wheel angle information;
and calculating the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval according to the vehicle transverse movement component and the vehicle longitudinal movement component corresponding to each time interval.
4. The method according to claim 3, wherein the lateral vehicle motion component and the longitudinal vehicle motion component for each time interval are calculated by:
[Xt1,Yt1]＝[∫υt1*cos(αt1)dt,∫υt1*sin(αt1)dt]；
[Xt2,Yt2]＝[∫υt2*cos(αt2)dt,∫υt2*sin(αt2)dt]；
wherein, Xt1、Yt1For each time interval starting time corresponding vehicle transverse motion component and vehicle longitudinal motion component, Xt2、Yt2The transverse motion component and the longitudinal motion component of the vehicle corresponding to the ending moment of each time interval; upsilon ist1For each time interval starting time corresponds to a vehicle speed vt2For each time interval ending time corresponding vehicle speed αt1For each time interval starting time corresponding to a steering wheel angle, αt2The steering wheel angle is associated with the end of each time interval.
5. The method according to claim 4, wherein the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval are calculated by:
L＝((Xt1-Xt2)2+(Yt1-Yt2)2)2；
α＝arctan((Yt1-Yt2)/(Xt1-Xt2))；
where L is the vehicle movement distance corresponding to each time interval, and α is the vehicle movement deviation angle corresponding to each time interval.
6. The method of claim 1, wherein calculating the vehicle movement distance and the vehicle movement deviation angle for each time interval based on the clock information, the vehicle speed information, and the steering wheel angle information further comprises:
when the wheel slip is detected, acquiring the lateral acceleration and the longitudinal acceleration of the vehicle when the wheel slip occurs;
the vehicle speed at the time of wheel slip is calculated from the vehicle lateral acceleration and the vehicle longitudinal acceleration at the time of wheel slip.
7. The method according to claim 6, wherein the vehicle speed at wheel slip is calculated by:
υt＝∫(ωt 2+γt 2)0.5dt；
wherein upsilon istThe vehicle speed at which the wheel slips, ωtThe said gamma being the longitudinal acceleration at which the wheel is slippingtThe lateral acceleration at which the wheel is slipping.
8. An in-vehicle panoramic map creation apparatus, characterized in that the apparatus comprises:
the system comprises an acquisition unit, a display unit and a display unit, wherein the acquisition unit is used for clock information, vehicle speed information, steering wheel corner information and a vehicle panoramic all-round view image, and the clock information comprises a plurality of time intervals;
the calculating unit is used for calculating the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval according to the clock information, the vehicle speed information and the steering wheel corner information;
and the splicing unit is used for splicing the vehicle panoramic all-around images corresponding to the plurality of time intervals according to the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval to form a continuous panoramic road image.
9. The apparatus of claim 8, wherein the obtaining unit is further configured to obtain vehicle positioning information corresponding to a plurality of time intervals; the device further comprises an image processing unit, wherein the image processing unit is used for superposing the continuous panoramic road image to a satellite map corresponding to the vehicle positioning information according to the vehicle positioning information corresponding to the plurality of time intervals to form a vehicle-mounted panoramic map.
10. The apparatus as recited in claim 9, said computing unit to:
calculating a vehicle transverse motion component and a vehicle longitudinal motion component corresponding to each time interval according to the clock information, the vehicle speed information and the steering wheel angle information;
and calculating the vehicle movement distance and the vehicle movement deviation angle corresponding to each time interval according to the vehicle transverse movement component and the vehicle longitudinal movement component corresponding to each time interval.
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