CN111784869A - Vehicle correction method and vehicle - Google Patents
Vehicle correction method and vehicle Download PDFInfo
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- CN111784869A CN111784869A CN202010607027.2A CN202010607027A CN111784869A CN 111784869 A CN111784869 A CN 111784869A CN 202010607027 A CN202010607027 A CN 202010607027A CN 111784869 A CN111784869 A CN 111784869A
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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
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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
- G07C5/0808—Diagnosing performance data
Abstract
The embodiment of the invention provides a vehicle correction method and a vehicle, wherein the method comprises the following steps: by acquiring map data, first parameter information and second parameter information acquired by the vehicle can be determined according to the map data, correction information can be further determined according to the first parameter information and the second parameter information, and the vehicle can be corrected according to the correction information. According to the embodiment of the invention, automatic correction of parameters in the vehicle is realized by combining map data, the accuracy of the parameters in the vehicle is improved, potential safety hazards caused by untimely parameter correction are avoided, and the safety of the vehicle is improved.
Description
Technical Field
The invention relates to the technical field of intelligent automobiles, in particular to a vehicle correction method and a vehicle.
Background
During the driving of the vehicle, various parameters are involved, such as the slope angle of the vehicle, the driving distance, etc., and the deviation of these parameters affects the normal driving of the vehicle.
In the prior art, a professional usually detects and corrects parameters of a vehicle, but the parameter correction mode depends on manual work, so that the corrected parameters are possibly not accurate enough, and potential safety hazards can be caused in the driving process of the vehicle due to the fact that the parameters cannot be detected and corrected in time.
Disclosure of Invention
In view of the above, it is proposed to provide a method and a device for vehicle correction that overcomes or at least partially solves the above mentioned problems, comprising:
a method of vehicle correction, the method comprising:
obtaining map data, and determining first parameter information according to the map data;
determining second parameter information acquired by the vehicle;
determining correction information according to the first parameter information and the second parameter information;
and correcting the vehicle according to the correction information.
Optionally, the determining first parameter information according to the map data includes:
acquiring positioning information of a vehicle;
and determining first parameter information by adopting the positioning information and the map data.
Optionally, the determining first parameter information by using the positioning information and the map data includes:
determining road identification information corresponding to the positioning information;
and determining first parameter information corresponding to the road identification information from the map data.
Optionally, the determining correction information according to the first parameter information and the second parameter information includes:
and determining correction information aiming at the vehicle slope angle according to the first slope angle information and the second slope angle information.
Optionally, the determining first parameter information by using the positioning information and the map data includes:
determining vehicle track information corresponding to the positioning information;
and determining first parameter information corresponding to the vehicle track information from the map data.
Optionally, the determining the correction information according to the first parameter information and the second parameter information includes:
and determining correction information aiming at the radius of the wheel according to the track length information and the vehicle mileage information.
Optionally, before the determining the first parameter information by using the positioning information and the map data, the method further includes:
determining road type information;
and when the road type information is the specified road type information, executing the positioning information and the map data and determining first parameter information.
Optionally, before the determining the first parameter information by using the positioning information and the map data, the method further includes:
determining driving behavior information;
and when the driving behavior information is non-specified driving behavior information, executing the positioning information and the map data, and determining first parameter information.
Optionally, the map data is obtained by fusing a plurality of map data for a parking lot, and the acquiring the map data includes:
detecting whether a vehicle enters a parking lot;
the acquiring of the map data is performed when it is detected that the vehicle enters the parking lot.
A vehicle, the vehicle comprising:
the first parameter information determining module is used for acquiring map data and determining first parameter information according to the map data;
the second parameter information determining module is used for determining second parameter information acquired by the vehicle;
the correction information determining module is used for determining correction information according to the first parameter information and the second parameter information;
and the correction module is used for correcting the vehicle according to the correction information.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, the map data is obtained, the first parameter information can be determined according to the map data, the second parameter information acquired by the vehicle can be determined, the correction information can be further determined according to the first parameter information and the second parameter information, and the vehicle can be corrected according to the correction information, so that the automatic correction of the parameters in the vehicle by combining the map data is realized, the accuracy of the parameters in the vehicle is improved, the potential safety hazard caused by the untimely parameter correction is avoided, and the safety of the vehicle is improved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a flow chart illustrating steps of a method for vehicle correction according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating steps in another method for vehicle modification according to an embodiment of the present invention;
FIG. 3 is a flow chart illustrating steps in another method for vehicle correction according to an embodiment of the present invention
FIG. 4 is a schematic diagram of a modified example of a vehicle according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a flowchart illustrating steps of a method for vehicle modification according to an embodiment of the present invention is provided, which may specifically include the following steps:
the map data can be pre-stored in the vehicle, can be generated in real time, can be downloaded from a cloud, and the first parameter information can be slope angle information of a road and track length information of the vehicle.
During the running process of the vehicle, map data corresponding to the current position can be acquired, and after the map data is acquired, first parameter information can be determined according to the map data.
In an embodiment of the present invention, the map data may be map data of a parking lot, the map data of the parking lot may be obtained by fusing a plurality of map data for the parking lot, and the fused map data may have higher accuracy.
Specifically, the map data of the parking lot can be obtained through crowdsourcing, and in the process of making, the map of the parking lot and the map data of the map of the parking lot can be collected through a plurality of different types of sample vehicles, so that a plurality of parking lot maps and the map data of the parking lot maps can be calculated and fused, and more accurate map data of the parking lot can be formed.
In an embodiment of the present invention, before acquiring the map data, the following steps may be included:
and detecting whether the vehicle enters the parking lot, and executing the map data acquisition when the vehicle is detected to enter the parking lot.
During the driving process of the vehicle, the area where the vehicle is located can be detected through a positioning function in the vehicle, such as a satellite positioning function, wherein the area where the vehicle is located can include a parking lot and a highway, and when the vehicle is detected to enter the parking lot, map data of the area where the vehicle is located can be called.
For example, the GPS coordinates of the vehicle may be acquired by a GPS (Global Positioning System) function in the vehicle, and the area where the vehicle is located may be detected, and when the area where the vehicle is located is detected as a parking lot, the map data of the parking lot where the vehicle is located may be called.
In an embodiment of the present invention, determining the first parameter information according to the map data may be the following sub-steps:
substep 11, obtaining the positioning information of the vehicle;
in practical application, the positioning can be performed through a GPS function in the vehicle, or the GPS function can be combined with an IMU (Inertial Measurement Unit) to perform positioning, so that the positioning information of the vehicle can be acquired.
Substep 12, determining first parameter information using said positioning information and said map data.
After the positioning information of the vehicle is acquired, the current position information of the vehicle can be determined in the map data according to the positioning information, the map data corresponding to the position information can be further determined, and the first parameter information can be determined according to the map data.
In an embodiment of the present invention, before determining the first parameter information by using the positioning information and the map data, the method may further include:
determining road type information; and when the road type information is the specified road type information, executing the positioning information and the map data and determining first parameter information.
The road type information may include a level road type, a gentle slope type, and a steep slope type, and the specified road type information may be a level road type.
After the positioning information of the vehicle is obtained, the current position information of the vehicle may be determined according to the positioning information in the map, and then the road information corresponding to the position information in the map data may be determined, where the road information may include road type information, slope angle information of a road, and the like.
For example, the current road information of the vehicle may be determined from the positioning information in the map, and then the slope angle information of the current road may be determined, and the variance of the slope angle information may be calculated to determine the road type information from the variance.
After determining the road type information, it may be determined whether the road type information is the specified road type information, if so, substep 12 may be initiated, and if not, the operation may be terminated.
For example, when the specified road type information is specified as a flat road type, it may be determined whether the current road type information is the flat road type after determining the road type information, and if so, the substep 12 is performed; if not, the operation is terminated.
In an embodiment of the present invention, before determining the first parameter information by using the positioning information and the map data, the method may further include:
determining driving behavior information; and when the driving behavior information is non-specified driving behavior information, executing the positioning information and the map data, and determining first parameter information.
The driving behavior information may include constant speed, large-angle turning, and rapid deceleration, and the specified driving behavior information may include large-angle turning, and rapid deceleration.
After the positioning information of the vehicle is acquired, the current road information of the vehicle can be determined according to the positioning information in the map, and further the driving behavior information of the vehicle on the current road can be determined.
After the driving behavior information is determined, whether the driving behavior information is non-specified driving behavior information or not can be judged, and if yes, the operation is terminated; if not, substep 12 begins.
For example, it may be determined whether the current driving behavior information is a large-angle turn or sudden deceleration, and if so, the operation is terminated; if not, substep 12 begins.
in the driving process of the vehicle, the vehicle can continuously acquire second parameter information of the vehicle, wherein the second parameter information can be slope angle information of the vehicle and mileage information of the vehicle.
For example, the slope angle information of the vehicle may be collected by an IMU in the vehicle, the mileage information of the vehicle may be collected by a mileage meter in the vehicle, and the information collected by the vehicle itself may be determined as the second parameter information
103, determining correction information according to the first parameter information and the second parameter information;
the correction information of the vehicle may include slope angle correction information, wheel radius correction information, IMU zero offset correction information, and steering wheel offset correction information.
After the first parameter information and the second parameter information are obtained, the first parameter information and the second parameter information can be compared and analyzed, a difference value between information collected by the vehicle and map data can be obtained, and correction information of the vehicle can be determined according to the difference value.
For example, when the first parameter information is the slope angle information of the road and the second parameter information is the slope angle of the vehicle, the slope angle information of the road and the slope angle of the vehicle may be calculated, so that a difference value between the slope angle information of the road and the slope angle of the vehicle may be obtained, a correction amount for the slope angle of the vehicle may be determined according to the difference value, and the correction amount may be determined as the slope angle correction information of the vehicle.
And 104, correcting the vehicle according to the correction information.
After the correction information of the vehicle is determined, the vehicle may be corrected according to the correction information.
For example, when the correction information is the slope angle correction information of the vehicle, the slope angle of the vehicle may be corrected in accordance with the correction amount of the slope angle of the vehicle in the correction information.
In the embodiment of the invention, the map data is obtained, the first parameter information can be determined according to the map data, the second parameter information acquired by the vehicle can be determined, the correction information can be further determined according to the first parameter information and the second parameter information, and the vehicle can be corrected according to the correction information, so that the automatic correction of the parameters in the vehicle by combining the map data is realized, the accuracy of the parameters in the vehicle is improved, the potential safety hazard caused by the untimely parameter correction is avoided, and the safety of the vehicle is improved.
Referring to fig. 2, a flowchart illustrating steps of another vehicle modification method according to an embodiment of the present invention is provided, which may specifically include the following steps:
after the positioning information of the vehicle is obtained, the current position information of the vehicle can be determined according to the positioning information in the map, and then the road information corresponding to the position information in the map data can be determined, wherein the road information can include road identification information.
For example, when the vehicle travels on the a road, after the positioning information of the vehicle is acquired, the current position information of the vehicle may be determined according to the positioning information in the map, and then the road information corresponding to the position information may be determined, and the road identification information a in the road information may be determined, and it may be determined that the vehicle is currently traveling on the a road.
after determining the road identification information, first parameter information corresponding to the road identification information may be determined from the map data.
For example, after determining the road identification information, the slope angle information of the road corresponding to the road identification information may be acquired from the map data, and then the average slope angle information of the road may be calculated, and the average slope angle information may be determined as the first slope angle information.
after determining the first slope angle information, second parameter information collected by the vehicle itself may be determined.
For example, the bank angle information of the vehicle may be collected by the IMU, and then the bank angle information of the vehicle corresponding to the road may be determined, and the average bank angle information of the vehicle may be calculated to determine the average bank angle information as the second bank angle information.
Step 206, determining correction information aiming at the vehicle slope angle according to the first slope angle information and the second slope angle information;
after the first slope angle information and the second slope angle information are determined, the first slope angle information and the second slope angle information can be compared and analyzed, difference values between information collected by the vehicle and map data can be obtained, and then correction information for the slope angle of the vehicle can be determined according to the difference values.
For example, a difference value between the first slope angle information and the second slope angle information may be calculated, and a difference value between the average slope angle of the road and the average slope angle of the vehicle may be obtained, and a correction amount for the slope angle of the vehicle may be determined based on the difference value, and the correction amount may be determined as the slope angle correction information of the vehicle.
And step 207, correcting the vehicle according to the correction information.
After the correction information of the vehicle is determined, the slope angle of the vehicle may be corrected in accordance with the correction amount for the slope angle of the vehicle in the correction information.
For example, the correction information of the vehicle slope angle may be calculated to obtain a correction amount of the vehicle slope angle, and then the vehicle longitudinal automatic control may be corrected according to the correction amount, such as an IMU pitch angle correction, a velocity correction, and an acceleration correction, so that an influence caused by a difference value between the first slope angle information and the second slope angle information may be compensated.
The vehicle longitudinal automatic control may be control for the throttle or brake of the vehicle.
In the embodiment of the invention, the positioning information of the vehicle is obtained by obtaining the map data, the road identification information corresponding to the positioning information can be determined, and determining first parameter information corresponding to the road identification information and second parameter information acquired by the vehicle from the map data, wherein the first parameter information may be first slope angle information, the second parameter information may be second slope angle information, further, correction information for the vehicle inclination angle may be determined based on the first inclination angle information and the second inclination angle information, and according to the correction information, the vehicle is corrected, automatic correction of the vehicle slope angle by combining map data is achieved, accuracy of the vehicle slope angle is improved, potential safety hazards caused by the fact that the vehicle slope angle is not corrected timely are avoided, and safety of the vehicle is improved.
Referring to fig. 3, a flowchart illustrating steps of another vehicle modification method according to an embodiment of the present invention is provided, which may specifically include the following steps:
after the positioning information of the vehicle is obtained, the current position information of the vehicle can be determined according to the positioning information in the map, and then the road information corresponding to the position information in the map data can be determined, wherein the road information can include road identification information.
For example, when the vehicle is traveling on the a road, after the positioning information of the vehicle is acquired, the current position information of the vehicle may be determined according to the positioning information in the map, and then the road information corresponding to the position information may be determined, and the road identification information a in the road information may be determined, and it may be determined that the vehicle is currently traveling on the a road
after the positioning information of the vehicle is obtained, the current position information of the vehicle can be determined according to the positioning information in the map, and then the vehicle track information corresponding to the position information can be determined.
For example, since the vehicle is constantly moving, the position information determined in the map may be a line, which may be represented as trajectory information of the vehicle, and thus the line corresponding to the position information may be determined as trajectory information of the vehicle.
For example, after determining the road identification information, the slope angle information of the road corresponding to the road identification information may be acquired from the map data, and then the average slope angle information of the road may be calculated, and the average slope angle information may be determined as the first slope angle information
after determining the vehicle trajectory information, first parameter information corresponding to the vehicle trajectory information may be determined from the map data.
For example, a ratio for calculating the vehicle trajectory information may be determined from the map data, and the vehicle trajectory information may be calculated based on the ratio, and the trajectory length information of the vehicle may be obtained, and the trajectory length information may be determined as the first parameter information.
After determining the track length information, second parameter information collected by the vehicle itself may be determined.
For example, the mileage of the vehicle may be measured by using a speedometer in the vehicle, and the vehicle mileage information may be obtained and determined as the second parameter information.
After the first slope angle information and the second slope angle information are determined, the first parameter information and the second parameter information are compared and analyzed, the difference between the information collected by the vehicle and the map data can be obtained, and then the correction information aiming at the slope angle of the vehicle can be determined according to the difference.
For example, a difference between the first slope angle information and the second slope angle information may be calculated, and a difference between the average slope angle of the road and the average slope angle of the vehicle may be obtained, and a correction amount for the slope angle of the vehicle may be determined based on the difference, and the correction amount may be determined as the slope angle correction information of the vehicle
Step 306, determining correction information aiming at the radius of the wheel according to the track length information and the vehicle mileage information;
after determining the track length information and the vehicle mileage information, a comparative analysis may be performed on the track length information and the vehicle mileage information.
In actual driving, because the wheels are affected by factors such as motion load, vehicle load, and road rigidity, an elastic deformation phenomenon may occur, which may further cause the radius of the wheels to become smaller, further cause an error in the driving distance measured by the vehicle itself, and may cause the actual driving distance of the vehicle to be different from the driving distance measured by the vehicle itself, that is, there is a difference between the track length information and the vehicle mileage information.
Further, after the track length information and the vehicle mileage information are compared and analyzed, a difference value between the information collected by the vehicle and the map data can be obtained, and then the correction information for the wheel radius can be determined according to the difference value.
Specifically, a difference value between the track length information and the vehicle mileage information may be calculated, a correction amount for the wheel radius may be determined according to the difference value, and the correction amount may be determined as the wheel radius correction information.
For example, if the current wheel rotation speed is 1000 rpm and the wheel radius is 250 mm, the travel distance measured when the vehicle travels for 1 minute may be about 1.57 km, and the track length information determined according to the map may be 1.50 km, so that the difference between the actual travel distance of the vehicle and the travel distance measured by the vehicle itself may be obtained, the difference may be 0.07 km, the difference may be calculated according to the rotation speed and the travel time, and the calculation result may be determined as the correction information for the wheel radius.
After the correction information of the vehicle is determined, the slope angle of the vehicle may be corrected in accordance with the correction amount for the slope angle of the vehicle in the correction information.
After the correction information of the vehicle is determined, the wheel radius may be corrected in accordance with the correction amount for the wheel radius in the correction information.
For example, the correction amount of the wheel radius may be obtained from the correction information of the wheel radius, and then the automatic control in the longitudinal direction of the vehicle may be corrected according to the correction coefficient, such as the wheel rotation speed correction and the steering wheel deviation correction, and further the influence caused by the deviation of the wheel radius may be compensated.
In the embodiment of the invention, the positioning information of the vehicle is obtained by obtaining the map data, the vehicle track information corresponding to the positioning information can be determined, the first parameter information corresponding to the vehicle track information is determined from the map data, and the second parameter information acquired by the vehicle is determined, wherein the first parameter information can be track length information, the second parameter information can be vehicle mileage information, the correction information aiming at the wheel radius can be further determined according to the track length information and the vehicle mileage information, the vehicle can be corrected according to the correction information, the automatic correction of the wheel radius by combining the map data is realized, the accuracy of the wheel radius is improved, the potential safety hazard caused by the fact that the wheel radius is not corrected in time is avoided, and the safety of the vehicle is improved.
An embodiment of the invention is illustrated below with reference to fig. 4:
1, detecting whether the vehicle enters a parking lot;
in actual driving, the GPS coordinates of the vehicle can be acquired through the GPS function so as to detect the area where the vehicle is located, and further whether the vehicle enters a parking lot can be detected.
2, calling a current parking lot map to obtain map data;
when it is detected that a vehicle enters a parking lot, a map of the current parking lot may be determined, and the map of the current parking lot may be called and the map data may be acquired.
3, positioning in a parking lot map to obtain positioning information;
after the map data is acquired, positioning can be performed in the parking lot map through a GPS function in the vehicle, and then positioning information of the vehicle can be acquired.
4, acquiring road information corresponding to the positioning information, and calculating the road information;
in practical application, the current road information of the vehicle can be determined according to the positioning information in the map, so that map data corresponding to the current road information can be acquired, and the road information can be calculated to determine the first parameter information.
The road information may include slope angle information, the first parameter information may be first slope angle information, and the first slope angle information may be average slope angle information of a current road in a map.
5, collecting vehicle slope angle information and calculating vehicle average slope angle information;
in a specific implementation, the IMU may collect the information of the vehicle's slope angle, and may further calculate the vehicle's average slope angle information in the current road, and may determine the average slope angle information as the second slope angle information.
6, calculating a slope angle correction value according to the average slope angle information of the vehicle and the average slope angle information of the current road;
in practical application, a difference between the first slope angle information and the second slope angle information may be calculated, that is, a difference between the average slope angle information of the current road in the map and the average slope angle information of the vehicle collected by the vehicle may be calculated, and the difference may be determined as correction information for the vehicle slope angle, that is, a slope angle correction value.
And 7, correcting according to the slope angle correction value.
In practical application, the vehicle slope angle can be corrected according to the correction information of the vehicle slope angle, namely the slope angle correction value.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 5, a schematic block diagram of a vehicle modified by a vehicle according to an embodiment of the present invention is shown, which may specifically include the following modules:
a first parameter information determining module 501, configured to obtain map data, and determine first parameter information according to the map data;
a second parameter information determining module 502, configured to determine second parameter information acquired by the vehicle itself;
a modified information determining module 503, configured to determine modified information according to the first parameter information and the second parameter information;
a correction module 504 for correcting the vehicle according to the correction information
In an embodiment of the present invention, the first parameter information determining module 501 further includes:
the positioning information acquisition submodule is used for acquiring the positioning information of the vehicle;
and the parameter information determining submodule is used for determining first parameter information by adopting the positioning information and the map data.
In an embodiment of the present invention, the parameter information determining sub-module includes:
the road identification information determining unit is used for determining road identification information corresponding to the positioning information;
and the road identification information corresponding parameter information determining unit is used for determining first parameter information corresponding to the road identification information from the map data.
In an embodiment of the present invention, the first parameter information is first slope angle information, the second parameter information is second slope angle information, and the modification information determining module 503 further includes:
and the vehicle slope angle correction information determining submodule is used for determining correction information aiming at the vehicle slope angle according to the first slope angle information and the second slope angle information.
In an embodiment of the present invention, the parameter information determining sub-module further includes:
the vehicle track information determining unit is used for determining vehicle track information corresponding to the positioning information;
and the vehicle track information corresponding parameter information determining unit is used for determining first parameter information corresponding to the vehicle track information from the map data.
In an embodiment of the present invention, the first parameter information is track length information, the second parameter information is vehicle mileage information, and the modified information determining module 503 further includes:
and the wheel radius correction information determining submodule is used for determining correction information aiming at the wheel radius according to the track length information and the vehicle mileage information.
In an embodiment of the present invention, the vehicle further includes:
the road type information determining module is used for determining road type information;
and the specified road type information determining module is used for calling the parameter information determining submodule when the road type information is the specified road type information.
In an embodiment of the invention, the vehicle further comprises
The driving behavior information determining module is used for determining driving behavior information;
and the non-specified driving behavior information determining module is used for calling the parameter information determining submodule when the driving behavior information is the non-specified driving behavior information.
In an embodiment of the present invention, the map data is obtained by fusing a plurality of map data for a parking lot, and the first parameter information determining module 501 further includes:
the parking lot entrance detection submodule is used for detecting whether a vehicle enters a parking lot;
and the map data acquisition submodule of the parking lot is used for calling the first parameter information determination module when the vehicle is detected to enter the parking lot.
In the embodiment of the invention, the map data is acquired, the first parameter information can be determined according to the map data, the second parameter information acquired by the vehicle can be determined, the correction information can be further determined according to the first parameter information and the second parameter information, and the vehicle can be corrected according to the correction information, so that the automatic correction of the parameters in the vehicle by combining the map data is realized, the driving performance of the vehicle is improved, the accuracy of the parameters in the vehicle is ensured, the timeliness of parameter correction in the vehicle is improved, and the safety of the vehicle is improved.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The above detailed description is provided for a vehicle modification method and a vehicle, and the principle and the embodiment of the present invention are explained herein by applying specific examples, and the above description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A method of vehicle correction, the method comprising:
obtaining map data, and determining first parameter information according to the map data;
determining second parameter information acquired by the vehicle;
determining correction information according to the first parameter information and the second parameter information;
and correcting the vehicle according to the correction information.
2. The method of claim 1, wherein determining first parameter information from the map data comprises:
acquiring positioning information of a vehicle;
and determining first parameter information by adopting the positioning information and the map data.
3. The method of claim 2, wherein said determining first parameter information using said positioning information and said map data comprises:
determining road identification information corresponding to the positioning information;
and determining first parameter information corresponding to the road identification information from the map data.
4. The method according to claim 3, wherein the first parameter information is first slope angle information, the second parameter information is second slope angle information, and the determining correction information according to the first parameter information and the second parameter information comprises:
and determining correction information aiming at the vehicle slope angle according to the first slope angle information and the second slope angle information.
5. The method of claim 2, wherein said determining first parameter information using said positioning information and said map data comprises:
determining vehicle track information corresponding to the positioning information;
and determining first parameter information corresponding to the vehicle track information from the map data.
6. The method of claim 5, wherein the first parameter information is track length information, the second parameter information is vehicle mileage information, and determining the correction information based on the first parameter information and the second parameter information comprises:
and determining correction information aiming at the radius of the wheel according to the track length information and the vehicle mileage information.
7. The method of claim 2, 3, 4, 5 or 6, wherein prior to said determining first parameter information using said positioning information and said map data, further comprising:
determining road type information;
and when the road type information is the specified road type information, executing the positioning information and the map data and determining first parameter information.
8. The method of claim 2, 3, 4, 5 or 6, wherein prior to said determining first parameter information using said positioning information and said map data, further comprising:
determining driving behavior information;
and when the driving behavior information is non-specified driving behavior information, executing the positioning information and the map data, and determining first parameter information.
9. The method according to claim 1, wherein the map data is obtained by fusing a plurality of map data for a parking lot, and before the obtaining the map data, the method comprises:
detecting whether a vehicle enters a parking lot;
the acquiring of the map data is performed when it is detected that the vehicle enters the parking lot.
10. A vehicle, characterized in that the vehicle comprises:
the first parameter information determining module is used for acquiring map data and determining first parameter information according to the map data;
the second parameter information determining module is used for determining second parameter information acquired by the vehicle;
the correction information determining module is used for determining correction information according to the first parameter information and the second parameter information;
and the correction module is used for correcting the vehicle according to the correction information.
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