CN111060127A - Vehicle starting point positioning method and device, computer equipment and storage medium - Google Patents
Vehicle starting point positioning method and device, computer equipment and storage medium Download PDFInfo
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- CN111060127A CN111060127A CN201911419763.9A CN201911419763A CN111060127A CN 111060127 A CN111060127 A CN 111060127A CN 201911419763 A CN201911419763 A CN 201911419763A CN 111060127 A CN111060127 A CN 111060127A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
Abstract
The application relates to a vehicle starting point positioning method, a vehicle starting point positioning device, computer equipment and a storage medium. The method comprises the following steps: acquiring a target position of a vehicle, and determining a corresponding target path node according to the target position; determining a warehousing path node set corresponding to the target path node from the warehousing path; acquiring an ex-warehouse path node set corresponding to a target path node; and determining the path node corresponding to the vehicle starting point from the warehousing path node set and the ex-warehouse path node set according to the position information of the vehicle, the position information of each warehousing path node in the warehousing path node set and the position information of each ex-warehouse path node in the ex-warehouse path node set. The method can improve the accuracy of positioning the starting point of the vehicle.
Description
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a method and an apparatus for locating a vehicle starting point, a computer device, and a storage medium.
Background
With the development of navigation technology, navigation is more and more widely applied in the field of vehicles, and unmanned technology appears. In unmanned systems, global path planning is an important part of navigation. The task of global path planning is to locate and plan an optimal path from a starting point of a vehicle to an end point of the vehicle on a map, and comprises subtasks of map analysis, starting point and end point location, path planning and the like. However, in the current global path planning, the problem of low accuracy of positioning the vehicle starting point exists.
Disclosure of Invention
In view of the above, it is necessary to provide a vehicle starting point positioning method, apparatus, computer device, and storage medium capable of improving the accuracy of vehicle starting point positioning.
A vehicle origin location method, the method comprising:
acquiring a target position of a vehicle, and determining a corresponding target path node according to the target position;
determining a warehousing path node set corresponding to the target path node from the warehousing path;
acquiring an ex-warehouse path node set corresponding to the target path node;
and determining a path node corresponding to the vehicle starting point from the warehousing path node set and the ex-warehouse path node set according to the position information of the vehicle, the position information of each warehousing path node in the warehousing path node set and the position information of each ex-warehouse path node in the ex-warehouse path node set.
In one embodiment, before determining a binning path node corresponding to the target path node from the binning path, the method further includes:
acquiring a candidate path node set which can be spliced into a path with the target path node;
and determining a warehousing path node set from the candidate path node set through a traversal algorithm, and determining a warehousing path according to the warehousing path node set.
In one embodiment, determining a warehousing path node set from the candidate path node sets through the priority traversal algorithm, and determining a warehousing path according to the warehousing path node set includes:
acquiring warehousing seed nodes from the candidate path node set;
performing reverse traversal on the candidate path node set through the priority traversal algorithm and the warehousing seed node;
when the attribute value of the traversed path node is not equal to the attribute threshold, acquiring the candidate path node of which the attribute value is equal to the attribute threshold from the traversed candidate path node set as a warehousing path node, determining a warehousing path node set, and determining a warehousing path according to the warehousing path node set; the attribute values include at least one of an out-value and an in-value of the path node.
In one embodiment, the location information of the vehicle includes a coordinate location of the vehicle and an azimuth of the vehicle, the location information of the warehousing path node includes a coordinate location of the warehousing path node and an azimuth of the warehousing path node, and the location information of the ex-warehouse path node includes a coordinate location of the warehousing path node and an azimuth of the ex-warehouse path node.
In one embodiment, determining a path node corresponding to the vehicle starting point from the warehousing path node set and the ex-warehouse path node set according to the position information of the vehicle, the position information of each warehousing path node in the warehousing path node set, and the position information of each ex-warehouse path node in the ex-warehouse path node set includes:
determining the distance between the vehicle and each warehousing path node and each ex-warehouse path node according to the current coordinate position of the vehicle, the coordinate position of each warehousing path node in the warehousing path node set and the coordinate position of each ex-warehouse path node in the ex-warehouse path node set;
determining an angle difference value between the vehicle and each warehousing path node and each ex-warehouse path node according to the azimuth angle of the vehicle, the azimuth angle of each warehousing path node in the warehousing path node set and the azimuth angle of each ex-warehouse path node in the ex-warehouse path node set;
and determining a path node corresponding to the vehicle starting point from the warehousing path node set and the ex-warehouse path node set according to the distance and the angle difference.
In one embodiment, determining a starting point of the vehicle positioning from the warehousing path node set and the ex-warehousing path node set according to the distance and the angle difference comprises:
acquiring a first number of warehousing path nodes and ex-warehouse path nodes of which the distance is smaller than a distance threshold and the angle difference value is smaller than an angle threshold;
when the first number is larger than or equal to a first preset number, obtaining a first path node with the minimum distance from a warehousing path node set and a ex-warehouse path node set of which the distance is smaller than a distance threshold and the angle difference value is smaller than an angle threshold, and determining the first path node as a path node corresponding to the vehicle starting point;
when the first number is smaller than the first preset number, acquiring a second number of the warehousing path nodes and the ex-warehouse path nodes corresponding to the distance smaller than the distance threshold; the first preset number is the preset number of the warehousing path nodes and the ex-warehouse path nodes of which the distance is smaller than a distance threshold and the angle difference value is smaller than an angle threshold;
and when the second number is greater than or equal to a second preset number, acquiring a second path node with the minimum distance from the warehousing path node and the ex-warehouse path node corresponding to the distance less than the distance threshold, and determining the second path node as the path node corresponding to the vehicle starting point, wherein the second preset number is the preset number of the warehousing path node and the ex-warehouse path node of which the distance is less than the distance threshold.
In one embodiment, the traversal algorithm is a breadth-first traversal algorithm or a depth-first traversal algorithm.
A vehicle origin locating apparatus, the apparatus comprising:
the first acquisition module is used for acquiring a target position of a vehicle and determining a corresponding target path node according to the target position;
the first determining module is used for determining a warehousing path node set corresponding to the target path node from the warehousing path;
the second acquisition module is used for acquiring the outbound path node set corresponding to the target path node;
and the second determining module is used for determining the path node corresponding to the starting point of the vehicle from the warehousing path node set and the ex-warehouse path node set according to the position information of the vehicle, the position information of each warehousing path node in the warehousing path node set and the position information of each ex-warehouse path node in the ex-warehouse path node set.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring a target position of a vehicle, and determining a corresponding target path node according to the target position;
determining a warehousing path node set corresponding to the target path node from the warehousing path;
acquiring an ex-warehouse path node set corresponding to the target path node;
and determining a path node corresponding to the vehicle starting point from the warehousing path node set and the ex-warehouse path node set according to the position information of the vehicle, the position information of each warehousing path node in the warehousing path node set and the position information of each ex-warehouse path node in the ex-warehouse path node set.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring a target position of a vehicle, and determining a corresponding target path node according to the target position;
determining a warehousing path node set corresponding to the target path node from the warehousing path;
acquiring an ex-warehouse path node set corresponding to the target path node;
and determining a path node corresponding to the vehicle starting point from the warehousing path node set and the ex-warehouse path node set according to the position information of the vehicle, the position information of each warehousing path node in the warehousing path node set and the position information of each ex-warehouse path node in the ex-warehouse path node set.
According to the vehicle starting point positioning method, the vehicle starting point positioning device, the computer equipment and the storage medium, the corresponding target path node is determined according to the target position by acquiring the target position of the vehicle; determining a warehousing path node set corresponding to the target path node from the warehousing path; acquiring an ex-warehouse path node set corresponding to a target path node; determining a path node corresponding to a vehicle starting point from the warehousing path node set and the ex-warehouse path node set according to the position information of the vehicle, the position information of each warehousing path node in the warehousing path node set and the position information of each ex-warehouse path node in the ex-warehouse path node set; the target position to be reached by the vehicle is determined firstly, the warehousing path node set and the ex-warehouse path node set corresponding to the target path node are screened out, and the path node corresponding to the starting point of the vehicle is determined from the warehousing path node set and the ex-warehouse path node set, so that the positioning range of the starting point of the vehicle is reduced, and the positioning accuracy of the starting point of the vehicle is improved.
Drawings
FIG. 1 is a diagram of an exemplary implementation of a method for locating a vehicle origin;
FIG. 2 is a schematic flow chart diagram illustrating a method for vehicle origin location in one embodiment;
FIG. 3 is a diagram illustrating the marking of a binning path node in another embodiment;
FIG. 4 is a schematic diagram of a path in a topograph in one embodiment;
FIG. 5 is a diagram illustrating the marking of a binning path node in one embodiment;
fig. 6 is a schematic flow chart of a method for marking a storage path node in another embodiment;
FIG. 7 is a flowchart illustrating a method for locating a vehicle origin according to another embodiment;
FIG. 8 is a flowchart illustrating a method for locating a vehicle origin in another embodiment;
FIG. 9 is a block diagram showing the construction of a vehicle origin positioning device according to one embodiment;
FIG. 10 is a block diagram showing the construction of a vehicle origin positioning apparatus in another embodiment;
FIG. 11 is a diagram illustrating an internal structure of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The vehicle starting point positioning method provided by the application can be applied to the application environment shown in fig. 1. Wherein the terminal 102 communicates with the server 104 via a network. Determining a corresponding target path node according to a target position by acquiring the target position of the vehicle; determining a warehousing path node set corresponding to the target path node from the warehousing path; acquiring an ex-warehouse path node set corresponding to a target path node; and determining a path node corresponding to the starting point of the vehicle from the warehousing path node set and the ex-warehouse path node set according to the position information of the vehicle, the position information of each warehousing path node in the warehousing path node set and the position information of each ex-warehouse path node in the ex-warehouse path node set. The terminal 102 may be, but not limited to, various personal computers, notebook computers, smart phones, and tablet computers, and the server 104 may be implemented by an independent server or a server cluster formed by a plurality of servers.
In one embodiment, as shown in fig. 2, a method for locating a starting point of a vehicle is provided, which is exemplified by the application of the method to the terminal in fig. 1, and includes the following steps:
step 202, obtaining a target position of the vehicle, and determining a corresponding target path node according to the target position.
The target position refers to a destination to which the vehicle is to reach. The path node is a position coordinate in a map corresponding to position information of the vehicle in the environment obtained by the sensor, and the map can be but is not limited to a topological map; for example, the sensor obtains position information (x, y, z) in the environment where the vehicle is located, obtains position coordinates (x1, y1) in the topological map of the position information (x, y, z) in the environment where the vehicle is located by projecting rotation and translation transformation into an XY plane where the topological map is located, and can obtain corresponding path nodes from topological map data according to the position coordinates (x1, y1), and at least one path node exists in the position coordinates in the topological map.
Specifically, the terminal acquires a target position of a vehicle from a sensor, performs rotation and translation conversion on the target position, acquires a corresponding coordinate position of the target position in a map, and acquires a corresponding target path node from map data according to the coordinate position, wherein at least one target path node exists in the coordinate position; selecting the target path node with the minimum distance to the position coordinate as the finally selected target path node by comparing the distance between each target path node and the position coordinate; optionally, when at least one target path node with the minimum distance from the position coordinate exists, one target path node is arbitrarily selected from the target path nodes with the minimum distance from the position coordinate to serve as a finally selected target path node.
And 204, determining a warehousing path node set corresponding to the target path node from the warehousing path.
The entry path is a sub-path branched from the normal path. The warehousing path at least corresponds to one warehousing path node, and all warehousing path nodes on the warehousing path can form a warehousing path node set.
Specifically, the terminal acquires a corresponding warehousing path according to a target path node map, the warehousing path is formed by splicing at least one warehousing path node, and each warehousing path node of the warehousing path node in the topological map has the characteristics of coordinates, directions, attribute values, connection relations and the like; and traversing the warehousing path by a traversal algorithm by taking the target path node as a starting point, acquiring the warehousing path node with the mark from the warehousing path, and determining a warehousing path node set according to the warehousing path node with the mark obtained by the traversal algorithm. The traversal algorithm includes a Breadth First Search (BFS) and a Depth First Search (DFS).
And step 206, acquiring a warehouse-out path node set corresponding to the target path node.
Specifically, the terminal acquires the ex-warehouse path node set of the out-warehouse path pair where the target path node is located from the map according to the position coordinate of the target path node.
And step 208, determining a path node corresponding to the starting point of the vehicle from the warehousing path node set and the ex-warehouse path node set according to the position information of the vehicle, the position information of each warehousing path node in the warehousing path node set and the position information of each ex-warehouse path node in the ex-warehouse path node set.
The position information of the vehicle can comprise a coordinate position of the vehicle in the space and an azimuth angle of the vehicle, wherein the coordinate position of the vehicle can be a three-dimensional coordinate; the position information of the warehousing path node refers to the coordinate position and the azimuth angle of the warehousing path node in a map, and the position of the warehousing path node can be a two-dimensional coordinate; the position information of the ex-warehouse path node refers to the coordinate position and the azimuth angle of the out-warehouse path node in a map, and the position of the out-warehouse path node can be a two-dimensional coordinate.
Specifically, the terminal acquires a coordinate position and an azimuth angle of a vehicle through a sensor, acquires the coordinate position and the azimuth angle of each warehousing path node in a warehousing path node set corresponding to a target road force node and the coordinate position and the azimuth angle of each ex-warehouse path node in an ex-warehouse path node set from map data, and determines a path node corresponding to a vehicle starting point from the warehousing path node set and the ex-warehouse path node set according to the coordinate position of the vehicle, the azimuth angle of the vehicle and the coordinate position and the azimuth angle of each warehousing path node.
Optionally, the coordinate position of the vehicle is a three-dimensional coordinate, the positions of the warehousing path node and the ex-warehouse path node are two-dimensional coordinates, the coordinate position of the vehicle is projected into a coordinate system where the position of the warehousing path node is located through rotation and translation, the coordinate position of the vehicle is converted into the two-dimensional coordinate as the three-dimensional coordinate, and the path node corresponding to the starting point of the vehicle is determined from the warehousing path node set and the ex-warehouse path node set according to the converted coordinate position of the vehicle, the azimuth angle of the vehicle, and the coordinate position and the azimuth angle of each warehousing path node and each ex-warehouse path node.
In the vehicle starting point positioning method, a corresponding target path node is determined according to a target position by acquiring the target position of a vehicle; determining a warehousing path node set corresponding to the target path node from the warehousing path; acquiring an ex-warehouse path node set corresponding to a target path node; determining a path node corresponding to a vehicle starting point from the warehousing path node set and the ex-warehouse path node set according to the position information of the vehicle, the position information of each warehousing path node in the warehousing path node set and the position information of each ex-warehouse path node in the ex-warehouse path node set; the method comprises the steps of screening a warehousing path node set and a ex-warehouse path node set corresponding to a target path node by determining a target position to be reached by a vehicle, determining the path node corresponding to a vehicle starting point from the warehousing path node set and the ex-warehouse path node set, and improving the calculation processing performance of a terminal and the accuracy of vehicle starting point positioning by reducing the number of the path nodes for vehicle starting point positioning.
In an embodiment, as shown in fig. 3, a method for marking a node of a warehousing path is provided, which is described by taking the method as an example of being applied to a terminal in fig. 1, and includes the following steps:
The candidate path nodes are path nodes which can be spliced into a path with the target path nodes in the map according to the connection relation between the path nodes.
Specifically, all associated path nodes which can be associated with the target path node are obtained from the map data according to the target path node, the associated path nodes which cannot reach the target path node are deleted from the obtained associated path nodes, and a candidate path node set which can be spliced into the path by the target path node is obtained. Optionally, as shown in fig. 4, in the topology map, the point 8 is a target path node corresponding to the target location, and the path nodes associated with the target path node 8 include a path node 1, a path node 2, a path node 3, a path node 4, a path node 5, a path node 6, and a path node 7; the method for deleting the associated path nodes which can not reach the No. 8 target path node comprises the following steps: and taking 8 target path nodes as a starting point, traversing along the reverse direction of a path connected by the path nodes in the graph according to a graph traversal algorithm, marking the traversed path nodes, and deleting the path nodes No. 3 and No. 4 which are not marked, namely deleting the path nodes No. 3 and No. 4 which can not reach the 8 target path nodes, wherein the acquired path nodes No. 1, 2, 5, 6 and 7 are candidate path nodes.
And 304, acquiring warehousing seed nodes from the candidate path node set.
The warehousing seed node is a starting point for traversing the candidate path node set by the traversal algorithm, and the selection of the warehousing seed node is determined by the target path node.
Specifically, the terminal obtains at least one warehousing seed node from the candidate path node set according to the obtained target path node.
And step 306, performing reverse traversal on the candidate path node set through a traversal algorithm and a warehousing seed node.
Wherein the attribute threshold is a preset attribute value. The out-degree value refers to the number of the current path node pointing to the next connection path node, and can be 0, 1, 2 and the like; the in-degree value refers to the number of the last connecting path node pointing to the current path node, and may be 0, 1, 2, etc.
Specifically, the terminal acquires a warehousing seed node from the candidate path node set according to the target path node, the warehousing seed node is used as a starting point, the candidate path node set is subjected to reverse traversal according to a traversal algorithm, whether the attribute value of the traversed path node is equal to an attribute threshold value or not is judged, the attribute value comprises at least one of an output value and an input value of the path node, when the output value of the traversed path node is not equal to the output threshold value or the input value is not equal to the input threshold value, the candidate path node with the output value equal to the output threshold value or the input value equal to the input threshold value is acquired from the traversed candidate path node set and is used as a warehousing path node, the warehousing path node set is determined, and a warehousing path is determined according to the warehousing path node set.
In one embodiment, before performing reverse traversal on the candidate path node set through a traversal algorithm and a warehousing seed node, judging whether an attribute value of the warehousing seed node is equal to an attribute threshold, performing reverse traversal on the candidate path node set through the traversal algorithm and the warehousing seed node when the warehousing seed node is equal to the attribute threshold, acquiring the candidate path node with the attribute value equal to the attribute threshold from the traversed candidate path node set as a warehousing path node when the attribute value of the traversed path node is not equal to the attribute threshold, determining the warehousing path node set, and determining a warehousing path according to the warehousing path node set; and when the warehousing seed node is not equal to the attribute threshold value, ending the traversal.
As shown in fig. 5, the candidate path node set includes candidate path nodes 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, and 14; the exit threshold is 1, the entrance threshold is 1, the candidate path nodes 1, 2, 3, 4, 5, 6 and 7 are normal path nodes, the candidate path node 12 is selected as a warehousing seed node according to the target path node, the exit value of the candidate path node 12 is equal to 1, the entrance value is equal to 1, reverse traversal is performed on the candidate path node set through a traversal algorithm, when the traversed candidate path node 2 is adopted, the exit value of the candidate path node 2 is 2 and is larger than the exit threshold, the candidate path nodes 8, 9, 10, 11 and 12 are determined to be warehousing path nodes from the traversed candidate path node set, a warehousing path node set is obtained, and a warehousing path is determined according to the warehousing path node set; the candidate path nodes 1, 2, 3, 4, 5, 6, and 7 are normal path nodes, and the candidate path node 14 is an outbound path node. And determining a warehousing path node set corresponding to the target path node set according to the traversal algorithm and the attribute value of the selected warehousing seed node, so that the accuracy of the acquired warehousing path node set is ensured.
In one embodiment, two warehousing seed nodes are selected from the warehousing seed nodes acquired from the candidate path node set, reverse traversal is performed on the candidate path node set through a traversal algorithm and the warehousing seed nodes, when the attribute value of the traversed path node is not equal to the attribute threshold value, the candidate path node with the attribute value equal to the attribute threshold value is acquired from the traversed candidate path node set and serves as the warehousing path node, the warehousing path node set is determined, and the warehousing path is determined according to the warehousing path node set.
As shown in fig. 6, the candidate path node set includes 1 to 27 candidate path nodes, the candidate path nodes 19 and 21 are selected as warehousing seed nodes according to the target path node, the candidate path node set is traversed in the reverse direction through a traversal algorithm, the candidate path nodes 20 and 21 can be determined as warehousing path nodes according to the candidate path node 21, the candidate path nodes 19, 16, 15, 18 and 17 can be determined as warehousing path nodes according to the candidate path node 19, a warehousing path set corresponding to the target path node is determined, and a warehousing path is determined according to the warehousing path node set; the candidate path nodes 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14 are normal path nodes, and the candidate path nodes 22, 23, 24, 25, 26, 27 are outbound path nodes. And determining a warehousing path node set corresponding to the target path node set according to the traversal algorithm and the selected warehousing seed node, thereby ensuring the integrity of the acquired warehousing path node set.
In one embodiment, a warehousing path node set is determined from the candidate path node sets through a traversal algorithm, and a warehousing path is determined according to the warehousing path node set.
Specifically, the terminal acquires the warehousing seed node from the candidate path node set according to the target path node, determines the warehousing path node set from the candidate path node set through a traversal algorithm and the warehousing seed node, and determines the warehousing path according to the warehousing path node set, so that the accuracy of the acquired warehousing path is ensured.
In the method for marking the nodes of the warehousing path, a terminal acquires a candidate path node set which can be spliced into a path with a target path node, acquires warehousing seed nodes from the candidate path node set, and performs reverse traversal on the candidate path node set through a traversal algorithm and the warehousing seed nodes; when the attribute value of the traversed path node is not equal to the attribute threshold, acquiring a candidate path node with the attribute value equal to the attribute threshold from the traversed candidate path node set as a warehousing path node, determining a warehousing path node set, and determining a warehousing path according to the warehousing path node set; the attribute values include at least one of an out-value and an in-value of the path node. And determining a warehousing path node set corresponding to the target path node set according to the traversal algorithm and the selected warehousing seed node, thereby ensuring the accuracy of the acquired warehousing path node set.
In another embodiment, as shown in fig. 7, a method for marking a node of a warehousing path is provided, which is described by taking the method as an example applied to the terminal in fig. 1, and includes the following steps:
Step 708, determining the distance between the vehicle and each warehousing path node and each ex-warehouse path node according to the current coordinate position of the vehicle, the coordinate position of each warehousing path node in the warehousing path node set and the coordinate position of each ex-warehouse path node in the ex-warehouse path node set.
Specifically, the current coordinate position of the vehicle and the coordinate position of the warehousing path node are converted into the same coordinate system, and the distance between the current position of the vehicle and each warehousing path node is obtained according to the converted current coordinate position of the vehicle and the coordinate position of the warehousing path node. Optionally, the converted current coordinate position of the vehicle is (x)1,y1) The coordinate position of the converted warehousing path node is (x)2,y2) The distance d between the two is:
similarly, the distance between the current coordinate position of the vehicle and each outbound path node in the set of outbound path nodes may be calculated.
And step 710, determining an angle difference value between the vehicle and each warehousing path node and each ex-warehouse path node according to the azimuth angle of the vehicle, the azimuth angle of each warehousing path node in the warehousing path node set and the azimuth angle of each ex-warehouse path node in each ex-warehouse path node set.
And 712, determining the path node corresponding to the vehicle starting point from the warehousing path node set and the ex-warehouse path node set according to the distance and angle difference.
In the method for marking the warehousing path nodes, the corresponding target path nodes are determined according to the target positions by acquiring the target positions of the vehicles; determining a warehousing path node set corresponding to the target path node from the warehousing path; acquiring an ex-warehouse path node set corresponding to a target path node; determining the distance between the vehicle and each warehousing path node and each ex-warehouse path node according to the current coordinate position of the vehicle, the coordinate position of each warehousing path node in the warehousing path node set and the coordinate position of each ex-warehouse path node in the ex-warehouse path node set; determining an angle difference value between the vehicle and each warehousing path node and each ex-warehouse path node according to the azimuth angle of the vehicle, the azimuth angle of each warehousing path node in the warehousing path node set and the azimuth angle of each ex-warehouse path node in the ex-warehouse path node set; and determining the path nodes corresponding to the vehicle starting points from the warehousing path node set and the ex-warehouse path node set according to the distance and angle difference values. And determining the path node corresponding to the vehicle starting point according to the distance and angle difference value of the vehicle and each warehousing path node in the warehousing path node set, thereby improving the accuracy of positioning the vehicle starting point.
In one embodiment, as shown in fig. 8, a method for determining a route node corresponding to a vehicle starting point according to location information of a vehicle, location information of an entry route node, and location information of an exit route node is provided, which is described by taking an example that the method is applied to a terminal in fig. 1, and includes the following steps:
step 802, determining the distance between the vehicle and each warehousing path node and each ex-warehouse path node according to the current coordinate position of the vehicle, the coordinate position of each warehousing path node in the warehousing path node set and the coordinate position of each ex-warehouse path node in the ex-warehouse path node set.
And step 804, determining the angle difference value between the vehicle and each warehousing path node and each ex-warehouse path node according to the azimuth angle of the vehicle, the azimuth angle of each warehousing path node in the warehousing path node set and the azimuth angle of each ex-warehouse path node in the ex-warehouse path node set.
Specifically, the distance threshold is a distance value of a preset vehicle and a path node, and the angle threshold is a difference value of azimuth angles of the preset vehicle and the path node. The distance threshold may be 7, 8, etc., and the angle threshold may be π/2, π/4, etc.
Step 810, when the first number is smaller than a first preset number, acquiring a second number of the warehousing path nodes and the ex-warehouse path nodes corresponding to the distance smaller than the distance threshold, wherein the first preset number is the preset number of the warehousing path nodes and the ex-warehouse path nodes of which the distance is smaller than the distance threshold and the angle difference value is smaller than the angle threshold.
And step 812, when the second number is greater than or equal to a second preset number, obtaining a second path node with the minimum distance from the warehousing path nodes and the ex-warehouse path nodes corresponding to the distance less than the distance threshold, and determining the second path node as the path node corresponding to the vehicle starting point, wherein the second preset number is the preset number of the warehousing path nodes and the ex-warehouse path nodes of which the distance is less than the distance threshold.
In one embodiment, when the second number is smaller than the second preset number, the warehouse-out path node or the warehouse-in path node with the smallest distance to the vehicle is selected from the warehouse-in path node set and the warehouse-out path node set as the path node of the vehicle starting point.
In the method for determining the path node corresponding to the vehicle starting point according to the position information of the vehicle and the position information of the warehousing path node, the distance between the vehicle and each warehousing path node and each ex-warehouse path node is determined according to the current coordinate position of the vehicle, the coordinate position of each warehousing path node in the warehousing path node set and the coordinate position of each ex-warehouse path node in the ex-warehouse path node set; determining an angle difference value between the vehicle and each warehousing path node and each ex-warehouse path node according to the azimuth angle of the vehicle, the azimuth angle of each warehousing path node in the warehousing path node set and the azimuth angle of each ex-warehouse path node in the ex-warehouse path node set; acquiring a first number of warehousing path nodes and ex-warehouse path nodes, wherein the distance is smaller than a distance threshold value, and the angle difference value is smaller than an angle threshold value; when the first number is larger than or equal to a first preset number, acquiring a first path node with the minimum distance from a warehousing path node set and a ex-warehouse path node set, wherein the distance is smaller than a distance threshold and an angle difference value is smaller than an angle threshold, and determining the first path node as a path node corresponding to a vehicle starting point; the first preset number is the preset number of the warehousing path nodes and the ex-warehouse path nodes of which the distance is smaller than the distance threshold and the angle difference is smaller than the angle threshold.
When the first number is smaller than a first preset number, acquiring a second number of warehousing path nodes and ex-warehouse path nodes corresponding to the distance smaller than the distance threshold; and when the second number is greater than or equal to a second preset number, acquiring a second path node with the minimum distance from the warehousing path nodes and the ex-warehouse path nodes corresponding to the distance less than the distance threshold, and determining the second path node as the path node corresponding to the vehicle starting point, wherein the second preset number is the preset number of the warehousing path nodes and the ex-warehouse path nodes of which the distance is less than the distance threshold. And determining the path node corresponding to the vehicle starting point from the warehousing path set and the ex-warehousing path node set according to the current position of the vehicle and the target path node, so that the accuracy of positioning the vehicle starting point is improved.
It should be understood that although the various steps in the flow charts of fig. 2-7 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-7 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 9, there is provided a vehicle origin locating apparatus 900 including: a first obtaining module 902, a first determining module 904, a second obtaining module 906, and a second determining module 908, wherein:
a first obtaining module 902, configured to obtain a target position of a vehicle, and determine a corresponding target path node according to the target position.
In one embodiment, the first obtaining module 902 is further configured to obtain a set of candidate path nodes that can be spliced into a path with the target path node.
A first determining module 904, configured to determine a warehousing path node set corresponding to the target path node from the warehousing path.
In an embodiment, the first determining module 904 is further configured to, when the attribute value of the traversed path node is not equal to the attribute threshold, obtain a candidate path node having an attribute value equal to the first attribute threshold from the traversed candidate path node set as a warehousing path node, determine a warehousing path node set, and determine a warehousing path according to the warehousing path node set; the attribute values include at least one of an out-value and an in-value of the path node.
A second obtaining module 906, configured to obtain a set of outbound path nodes corresponding to the target path node.
The second determining module 908 is configured to determine a path node corresponding to the vehicle starting point from the warehousing path node set and the ex-warehouse path node set according to the location information of the vehicle, the location information of each warehousing path node in the warehousing path node set, and the location information of each ex-warehouse path node in the ex-warehouse path node set.
In one embodiment, the second determining module 908 is further configured to determine a path node corresponding to the vehicle starting point from the warehousing path node set and the ex-warehousing path node set according to the distance and angle difference.
In one embodiment, the second determining module 908 is further configured to, when the first number is greater than or equal to a first preset number, obtain a first path node with a smallest distance from the warehousing path node set and the ex-warehousing path node set, where the distance is smaller than the distance threshold and the angle difference is smaller than the angle threshold, and determine the first path node as a path node corresponding to the vehicle starting point.
In one embodiment, the second determining module 908 is further configured to, when the second number is greater than or equal to a second preset number, obtain a second path node with the smallest distance from the warehousing path node set and the ex-warehouse path node set corresponding to the distance being smaller than the distance threshold, and determine the second path node as a path node corresponding to the vehicle starting point, where the second preset number is the preset number of warehousing path nodes and ex-warehouse path nodes corresponding to the distance being smaller than the distance threshold.
In the vehicle starting point positioning device, a corresponding target path node is determined according to a target position by acquiring the target position of a vehicle; determining a warehousing path node set corresponding to the target path node from the warehousing path; acquiring an ex-warehouse path node set corresponding to a target path node; determining a path node corresponding to a vehicle starting point from the warehousing path node set and the ex-warehousing path node set according to the position information of the vehicle and the position information of each warehousing path node in the warehousing path node set; the target position to be reached by the vehicle is determined firstly, the warehousing path node set and the ex-warehouse path node set corresponding to the target path node are screened out, and the path node corresponding to the starting point of the vehicle is determined from the warehousing path node set and the ex-warehouse path node set, so that the positioning range of the starting point of the vehicle is reduced, and the positioning accuracy of the starting point of the vehicle is improved.
In one embodiment, as shown in FIG. 10, a vehicle origin locating 900 device is provided, comprising in addition: the first obtaining module 902, the first determining module 904, the second obtaining module 906, and the second determining module 908 further include a path node marking module 910, a calculating module 912, and a third obtaining module 914, where:
and the path node marking module 910 is configured to determine a warehousing path node set from the candidate path node sets through a priority traversal algorithm, and determine a warehousing path according to the warehousing path node set.
In one embodiment, the path node marking module 910 is further configured to obtain a warehousing seed node from the candidate path node set, and perform reverse traversal on the candidate path node set through a priority traversal algorithm and the warehousing seed node.
A calculating module 912, configured to determine a distance between the vehicle and each of the warehousing path nodes and the ex-warehouse path nodes according to a current coordinate position of the vehicle, a coordinate position of each of the warehousing path nodes in the warehousing path node set, and a coordinate position of each of the ex-warehouse path nodes in the ex-warehouse path node set; and determining the angle difference between the vehicle and each warehousing path node and each ex-warehouse path node according to the azimuth angle of the vehicle, the azimuth angle of each warehousing path node in the warehousing path node set and the azimuth angle of each ex-warehouse path node in the ex-warehouse path node set.
The third obtaining module 914 is configured to obtain a first number of the warehousing path nodes and the ex-warehouse path nodes, where the distance is smaller than the distance threshold and the angle difference is smaller than the angle threshold.
In an embodiment, the third obtaining module 914 is further configured to obtain a second number of the warehousing path nodes and the ex-warehouse path nodes corresponding to the distance smaller than the distance threshold when the first number is smaller than a first preset number, where the first preset number is a preset number of the warehousing path nodes and the ex-warehouse path nodes corresponding to the distance smaller than the distance threshold and having an angle difference smaller than an angle threshold.
In one embodiment, a terminal acquires a target position of a vehicle, and determines a corresponding target path node according to the target position; acquiring a candidate path node set which can be spliced into a path with a target path node; determining a warehousing path node set from the candidate path node set through a traversal algorithm, and determining a warehousing path according to the warehousing path node set; determining a warehousing path node set corresponding to the target path node from the warehousing path; acquiring an ex-warehouse path node set corresponding to a target path node; determining the distance between the vehicle and each warehousing path node and each ex-warehouse path node according to the current coordinate position of the vehicle, the coordinate position of each warehousing path node in the warehousing path node set and the coordinate position of each ex-warehouse path node in the ex-warehouse path node set; determining an angle difference value between the vehicle and each warehousing path node and each ex-warehouse path node according to the azimuth angle of the vehicle, the azimuth angle of each warehousing path node in the warehousing path node set and the azimuth angle of each ex-warehouse path node in the ex-warehouse path node set; and determining the path nodes corresponding to the vehicle starting points from the warehousing path node set and the ex-warehouse path node set according to the distance and angle difference values.
For specific definition of the vehicle starting point positioning device, reference may be made to the above definition of the vehicle starting point positioning method, which is not described herein again. The modules in the vehicle starting point positioning device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 11. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used to store path node data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a vehicle origin positioning method.
Those skilled in the art will appreciate that the architecture shown in fig. 11 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of the vehicle origin positioning method described above.
In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the vehicle origin positioning method when executing the computer program.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A vehicle origin location method, the method comprising:
acquiring a target position of a vehicle, and determining a corresponding target path node according to the target position;
determining a warehousing path node set corresponding to the target path node from the warehousing path;
acquiring an ex-warehouse path node set corresponding to the target path node;
and determining a path node corresponding to the vehicle starting point from the warehousing path node set and the ex-warehouse path node set according to the position information of the vehicle, the position information of each warehousing path node in the warehousing path node set and the position information of each ex-warehouse path node in the ex-warehouse path node set.
2. The method of claim 1, wherein prior to determining a binned path node from a binned path that corresponds to the target path node, the method further comprises:
acquiring a candidate path node set which can be spliced into a path with the target path node;
and determining a warehousing path node set from the candidate path node set through a traversal algorithm, and determining a warehousing path according to the warehousing path node set.
3. The method of claim 2, wherein determining a set of binned path nodes from the set of candidate path nodes via the priority traversal algorithm, determining a binned path from the set of binned path nodes, comprises:
acquiring warehousing seed nodes from the candidate path node set;
performing reverse traversal on the candidate path node set through the priority traversal algorithm and the warehousing seed node;
when the attribute value of the traversed path node is not equal to the attribute threshold, acquiring the candidate path node of which the attribute value is equal to the attribute threshold from the traversed candidate path node set as a warehousing path node, determining a warehousing path node set, and determining a warehousing path according to the warehousing path node set; the attribute values include at least one of an out-value and an in-value of the path node.
4. The method according to claim 1, wherein the location information of the vehicle includes a coordinate location of the vehicle and an azimuth of the vehicle, the location information of the inbound path node includes a coordinate location of the inbound path node and an azimuth of the inbound path node, and the location information of the outbound path node includes a coordinate location of the inbound path node and an azimuth of the outbound path node.
5. The method according to claim 4, wherein determining a path node corresponding to the vehicle starting point from the warehousing path node set and the ex-warehouse path node set according to the position information of the vehicle, the position information of each warehousing path node in the warehousing path node set, and the position information of each ex-warehouse path node in the ex-warehouse path node set comprises:
determining the distance between the vehicle and each warehousing path node and each ex-warehouse path node according to the current coordinate position of the vehicle, the coordinate position of each warehousing path node in the warehousing path node set and the coordinate position of each ex-warehouse path node in the ex-warehouse path node set;
determining an angle difference value between the vehicle and each warehousing path node and each ex-warehouse path node according to the azimuth angle of the vehicle, the azimuth angle of each warehousing path node in the warehousing path node set and the azimuth angle of each ex-warehouse path node in the ex-warehouse path node set;
and determining a path node corresponding to the vehicle starting point from the warehousing path node set and the ex-warehouse path node set according to the distance and the angle difference.
6. The method of claim 5, wherein determining the starting point of the vehicle position from the set of inbound path nodes and the set of outbound path nodes based on the distance and the angular difference comprises:
acquiring a first number of warehousing path nodes and ex-warehouse path nodes of which the distance is smaller than a distance threshold and the angle difference value is smaller than an angle threshold;
when the first number is larger than or equal to a first preset number, obtaining a first path node with the minimum distance from a warehousing path node set and a ex-warehouse path node set of which the distance is smaller than a distance threshold and the angle difference value is smaller than an angle threshold, and determining the first path node as a path node corresponding to the vehicle starting point; the first preset number is the preset number of the warehousing path nodes and the ex-warehouse path nodes of which the distance is smaller than a distance threshold and the angle difference value is smaller than an angle threshold;
when the first number is smaller than the first preset number, acquiring a second number of the warehousing path nodes and the ex-warehouse path nodes corresponding to the distance smaller than the distance threshold;
and when the second number is greater than or equal to a second preset number, acquiring a second path node with the minimum distance from the warehousing path node and the ex-warehouse path node corresponding to the distance less than the distance threshold, and determining the second path node as the path node corresponding to the vehicle starting point, wherein the second preset number is the preset number of the warehousing path node and the ex-warehouse path node of which the distance is less than the distance threshold.
7. The method of claim 2, wherein the traversal algorithm is a breadth-first traversal algorithm or a depth-first traversal algorithm.
8. A vehicle origin positioning apparatus, characterized by comprising:
the first acquisition module is used for acquiring a target position of a vehicle and determining a corresponding target path node according to the target position;
the first determining module is used for determining a warehousing path node set corresponding to the target path node from the warehousing path;
the second acquisition module is used for acquiring the outbound path node set corresponding to the target path node;
and the second determining module is used for determining the path node corresponding to the starting point of the vehicle from the warehousing path node set and the ex-warehouse path node set according to the position information of the vehicle, the position information of each warehousing path node in the warehousing path node set and the position information of each ex-warehouse path node in the ex-warehouse path node set.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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