CN112216102B

CN112216102B - Method, device and equipment for determining road surface information and storage medium

Info

Publication number: CN112216102B
Application number: CN202010954247.2A
Authority: CN
Inventors: 宋俊良; 沈逸敏; 吴冬; 刘璐璐
Original assignee: Evergrande New Energy Automobile Investment Holding Group Co Ltd
Current assignee: Evergrande New Energy Automobile Investment Holding Group Co Ltd
Priority date: 2020-09-11
Filing date: 2020-09-11
Publication date: 2021-09-14
Anticipated expiration: 2040-09-11
Also published as: CN112216102A

Abstract

The embodiment of the application discloses a method, a device, equipment and a storage medium for determining road surface information, wherein the method comprises the following steps: when it is monitored that a target vehicle runs on a preset running road section, determining the current running position of the target vehicle; acquiring running state information of the target vehicle; determining the running position information of the target vehicle at a future moment according to the current running position and the running state information; acquiring a digital electronic road map corresponding to the driving position information; and determining first road characteristic information corresponding to the driving position information according to the digital electronic road map corresponding to the driving position information. According to the technical scheme, the vehicle can be accurately positioned, the accurate running position information of the vehicle at the future moment can be determined, the accurate road surface characteristic information corresponding to the running position information at the future moment is obtained in advance, and the response speed of each module or subsystem of the vehicle is improved.

Description

Method, device and equipment for determining road surface information and storage medium

Technical Field

The present invention relates to the field of information processing technologies, and in particular, to a method, an apparatus, a device, and a storage medium for determining road surface information.

Background

Automobiles are developing in the direction of safety, comfort, energy conservation, environmental protection, and intelligence, and people are increasingly pursuing improved handling stability, riding comfort, and the like of automobiles. Accurate effectual road surface information can let each control module of whole car coordinate the control performance better, promotes initiative suspension performance comprehensively, improves its operating stability, ride comfort and riding comfort. Therefore, obtaining accurate and effective road information is crucial to improving the performance of the automobile.

At present, the following method is generally adopted for identifying road information: the vehicle-mounted sensor is used for collecting road surface information, the vehicle is positioned according to the typical characteristics of the road surface, and then the road surface information of the area in front of the vehicle is extracted on line based on the digital map. The passive road information collection method has the advantages that the reaction time is slightly long, certain hysteresis is realized, the positioning accuracy of the vehicle is influenced when a road section with high road information repetition degree is met, and the deviation of the road information acquisition result is large.

Disclosure of Invention

An embodiment of the present application provides a method, an apparatus, a device, and a storage medium for determining road surface information, so as to solve the problem that accurate road surface information cannot be obtained in time in the prior art.

In order to solve the above technical problem, the embodiment of the present application is implemented as follows:

in one aspect, an embodiment of the present application provides a method for determining road surface information, including:

when it is monitored that a target vehicle runs on a preset running road section, determining the current running position of the target vehicle; acquiring running state information of the target vehicle;

determining the running position information of the target vehicle at a future moment according to the current running position and the running state information;

acquiring a digital electronic road map corresponding to the driving position information; and determining first road characteristic information corresponding to the driving position information according to the digital electronic road map corresponding to the driving position information.

On the other hand, an embodiment of the present application provides a device for determining road surface information, including:

the system comprises a first determination module, a second determination module and a third determination module, wherein the first determination module is used for determining the current driving position of a target vehicle when the target vehicle is monitored to drive on a preset driving road section; acquiring running state information of the target vehicle;

the second determination module is used for determining the running position information of the target vehicle at the future moment according to the current running position and the running state information;

the third determining module is used for acquiring a digital electronic road map corresponding to the driving position information; and determining first road characteristic information corresponding to the driving position information according to the digital electronic road map corresponding to the driving position information.

In still another aspect, an embodiment of the present application provides a road surface information determining apparatus, including a processor and a memory electrically connected to the processor, where the memory stores a computer program, and the processor is configured to call and execute the computer program from the memory to implement the above-mentioned road surface information determining method.

In still another aspect, an embodiment of the present application provides a storage medium for storing a computer program, which when executed by a processor, implements the above-described determination method of road surface information.

By adopting the technical scheme of the embodiment of the invention, when the situation that the target vehicle runs on the preset running road section is monitored, the current running position of the target vehicle is determined, the running state information of the target vehicle is obtained, the running position information of the target vehicle at the future moment is determined according to the current running position and the running state information of the target vehicle, and the first road characteristic information corresponding to the running position information is determined by obtaining the digital electronic road map corresponding to the running position information. Therefore, the technical scheme can accurately predict the running position information of the target vehicle at the future moment based on the current running position and the running state information of the target vehicle, and can determine the road surface characteristic information of each running position at the future moment in advance before the vehicle reaches each running position at the future moment, so that timely and accurate road surface characteristic information is provided for the vehicle. Furthermore, timely and accurate road characteristic information can also remarkably improve the response speed of related control systems (such as a steer-by-wire system and a suspension system) in the vehicle, so that the operation stability and the riding comfort of the vehicle are improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic flow chart of a determination method of road surface information according to an embodiment of the invention;

FIG. 2 is a schematic view of a plan view of a vehicle location according to an embodiment of the present invention;

FIG. 3 is a schematic view of a vehicle positioning method according to an embodiment of the invention;

fig. 4 is a schematic flow chart of a determination method of road surface information according to another embodiment of the invention;

fig. 5 is a schematic block diagram of a road surface information determination apparatus according to an embodiment of the present invention;

fig. 6 is a schematic block diagram of a road surface information determination apparatus according to an embodiment of the present invention.

Detailed Description

In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the 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 application.

Fig. 1 is a schematic flow chart of a determination method of road surface information according to an embodiment of the present invention, which is applicable to a road surface information determination module mounted in a vehicle, as shown in fig. 1, and includes the steps of:

s102, when it is monitored that the target vehicle runs on the preset running road section, determining the current running position of the target vehicle, and acquiring running state information of the target vehicle.

The driving state information may include information such as a steering wheel angle, a steering wheel torque, a lateral acceleration, a longitudinal acceleration, a vehicle speed, a brake pedal position, a master cylinder pressure, and an accelerator pedal position. Various items of information may be collected by sensors installed inside the subject vehicle. For example, the steering wheel angle can be acquired by a steering wheel angle sensor; the steering wheel torque can be acquired through a steering wheel torque sensor; the transverse acceleration and the longitudinal acceleration can be acquired by a yaw angular velocity sensor; the vehicle speed can be acquired by a vehicle speed sensor; the position of the brake pedal can be acquired by a brake pedal position sensor; the pressure of the brake master cylinder can be acquired by a brake pressure sensor; the accelerator pedal position may be collected via an accelerator pedal position sensor.

In this embodiment, when the target vehicle travels on the preset travel section, the travel state information of the target vehicle is not constant, for example, when turning, accelerating, emergency braking, etc. occur, the travel state information of the target vehicle changes accordingly.

And S104, determining the running position information of the target vehicle at the future time according to the current running position and the running state information.

In the step, the driving position information of the target vehicle at the future moment can be predicted according to the existing automobile track tracking algorithm. If the road information determining module acquires the driving state information through the sensor in the target vehicle, after the road information determining module acquires data of each sensor, the acquired driving state information is used as input data of an automobile track tracking algorithm, and the driving position information of the target vehicle at the future moment can be determined through calculation of the automobile track tracking algorithm. The automobile track tracking algorithm belongs to the prior art, and is not described in detail.

For example, the current driving position of the target vehicle is determined, the vehicle speed v0, the longitudinal acceleration ax0 and the lateral acceleration ay0 of the target vehicle are obtained by acquiring data of each sensor, the vehicle speeds v1, v2... vt, the longitudinal acceleration ax1, ax2.. axt and the lateral accelerations ay1, ay2.. ayt of the target vehicle at each time point in the future time are calculated by taking Δ t as a time calculation unit, and the position of the target vehicle after t (t is greater than 0) seconds of driving, namely the driving position information of the target vehicle at the future time is further calculated according to the vehicle speed, the longitudinal acceleration and the lateral acceleration. Wherein every two adjacent time points of the future time instant are separated by Δ t.

S106, acquiring a digital electronic road map corresponding to the driving position information at a future moment, and determining first road characteristic information corresponding to the driving position information according to the digital electronic road map corresponding to the driving position information.

The digital electronic road map corresponding to the driving position information at the future time can be downloaded from the network side, and the downloaded digital electronic road map corresponding to the driving position information at the future time can be stored in a vehicle storage unit in the target vehicle in advance. Alternatively, if the digitized electronic road map corresponding to the preset traveling section is downloaded from the network side in advance and stored in the vehicle storage unit inside the target vehicle, since the traveling position at the future time is actually located on the preset traveling section, the digitized electronic road map corresponding to the traveling position information at the future time can be determined by the digitized electronic road map corresponding to the preset traveling section pre-stored in the vehicle storage unit. The method comprises the steps of analyzing a digital electronic road map corresponding to the driving position information at a future moment to determine first road characteristic information corresponding to the driving position information on a preset driving road section.

The first road characteristic information may include at least one of: lane line information, road surface convex object information (such as deceleration strips, isolation strips and the like), road surface marker information (such as traffic lights, landmark buildings and the like), road surface height (namely a corresponding relation table of different geographic coordinate positions and the road surface height of the positions), road spectrum (road spectrum, which refers to road surface spectrum, road spectrum for short, and power spectral density curve of road surface unevenness) and the like.

In one embodiment, when the target vehicle travels on the preset travel road section, before determining the current travel position of the target vehicle, a vehicle-mounted camera and/or a laser radar installed on the target vehicle may be used to collect the second road characteristic information of the preset travel road section in real time, and obtain the predetermined third road characteristic information. Wherein, in order to ensure the accuracy of road surface characteristic information acquisition, on-vehicle camera and/or laser radar can install the higher position at target vehicle, like the roof. The types and the use methods of the vehicle-mounted camera and the laser radar are not limited in the present application.

In this step, the second road surface characteristic information is acquired in real time during the driving of the target vehicle, and thus the second road surface characteristic information is the actual road surface characteristic information. And the third road surface characteristic information is determined according to a digital electronic road map which is obtained in advance and corresponds to the preset driving road section. The digital electronic road map corresponding to the preset driving road section can be obtained from a network side in advance and is stored in a vehicle storage unit in the target vehicle in advance. And determining the third road surface characteristic information by analyzing the digital electronic road map corresponding to the preset driving road section.

In this embodiment, the second and third road characteristic information may each include at least one of the following information: lane line information, road surface convex object information (such as deceleration strips, isolation strips and the like), road surface marker information (such as traffic lights, landmark buildings and the like), road surface height, road spectrum and the like.

After the second road characteristic information and the third road characteristic information are obtained, whether the second road characteristic information and the third road characteristic information are consistent needs to be judged, and the follow-up operation is determined based on whether the second road characteristic information and the third road characteristic information are consistent. The comparison frequency of the second road surface characteristic information and the third road surface characteristic information can be preset, and if the second road surface characteristic information and the third road surface characteristic information are compared once every 3 seconds, the consistency of the second road surface characteristic information and the third road surface characteristic information is judged.

In this step, if at least one item of information in the second road surface characteristic information and the third road surface characteristic information is inconsistent, it is determined that the second road surface characteristic information and the third road surface characteristic information are inconsistent. And if all the information in the second road characteristic information and the third road characteristic information is consistent, determining that the second road characteristic information and the third road characteristic information are consistent.

In addition, because the road surface feature repetition degree of some roads is high, for example, traffic lights, speed bumps and the like are arranged on two different roads in the same direction, in this case, even if various pieces of information in the second road surface feature information and the third road surface feature information are consistent, the road surface feature information belonging to the same road cannot be determined, so that in order to ensure the accuracy of the judgment result, the GPS positioning information corresponding to the second road surface feature information and the third road surface feature information respectively can be further determined, and when the GPS positioning information corresponding to the second road surface feature information and the third road surface feature information respectively is matched, the second road surface feature information and the third road surface feature information are determined to be consistent.

If the GPS positioning information corresponding to the second road characteristic information and the third road characteristic information is consistent, or the information difference value does not exceed a preset threshold, it may be determined that the GPS positioning information corresponding to the second road characteristic information and the third road characteristic information are matched.

For example, road a and road B are both provided with pavement markers at the same location: the relative position of the traffic light at the intersection A on the intersection A is the same as or approximately the same as the relative position of the traffic light at the intersection B on the intersection B, and the similarity of other road surface characteristic information of the intersection A and the intersection B is extremely high, at the moment, the second road surface characteristic information corresponding to the intersection A or the intersection B cannot be distinguished, namely, whether the second road surface characteristic information is consistent with the third road surface information characteristic cannot be determined. Therefore, the GPS positioning information corresponding to the second road characteristic information and the GPS positioning information corresponding to the third road characteristic information need to be further matched, and when the GPS positioning information corresponding to the second road characteristic information and the GPS positioning information corresponding to the third road characteristic information are matched, it is determined that the second road characteristic information and the third road characteristic information are consistent.

In the above embodiment, if the second road characteristic information and the third road characteristic information are consistent, the current driving position of the target vehicle may be determined continuously, and the subsequent steps (i.e., S104 to S106) may be further performed. If the second road characteristic information is inconsistent with the third road characteristic information, it indicates that the target vehicle may not have collected some information in the third road characteristic information, and when all the third road characteristic information needs to be collected next time, the second road characteristic information and the third road characteristic information are compared again, so as to judge the consistency of the second road characteristic information and the third road characteristic information.

In this embodiment, when determining whether the second road surface characteristic information acquired in real time is consistent with the third road surface characteristic information acquired in advance, comprehensive determination can be performed based on whether each item of road surface characteristic information is consistent with the GPS positioning information, so that a determination result of whether the second road surface characteristic information acquired in real time is consistent with the third road surface characteristic information acquired in advance is more accurate, and the accuracy of target vehicle positioning is improved.

In one embodiment, the current driving position of the target vehicle may be determined in the following manner: firstly, a target vehicle is subjected to Global Positioning System (GPS) Positioning to obtain a GPS Positioning position of the target vehicle, and Positioning accuracy of the GPS Positioning is obtained, and then the GPS Positioning position is corrected according to the Positioning accuracy of the GPS Positioning to obtain a current driving position of the target vehicle.

When the GPS positioning position of the target vehicle is corrected according to the positioning accuracy of the GPS positioning, the correction can be carried out according to the following modes:

first, a first distance between the target vehicle and the lane lines on both sides of the current driving section is determined, and a current driving trajectory line of the target vehicle is determined according to the first distance. The first distance may be measured using an on-board camera and/or a lidar mounted in the target vehicle during travel of the target vehicle.

And secondly, determining a reference marker on the current driving road section, wherein the second distance between the reference marker and the target vehicle is less than a preset threshold value. The reference marker can be a traffic light, a building, a sign board and other markers.

If a plurality of markers are included on the current travel section, one of the markers may be selected as the reference marker according to the magnitude of the second distance between the marker and the target vehicle. Specifically, a marker whose second distance from the target vehicle is smaller than a preset threshold may be used as the reference marker.

And thirdly, determining a current running track circle which takes the reference marker as the center of a circle and takes the second distance as the radius, wherein the current running track line of the target vehicle and the current running track circle have two intersection points. And determining a target intersection point with the distance between the target vehicle and the GPS positioning position smaller than the positioning accuracy from the two intersection points, and further determining the position corresponding to the target intersection point as the current running position of the target vehicle.

Next, taking an example of the target vehicle traveling through an intersection as an example, how to correct the GPS positioning position of the target vehicle based on the positioning accuracy of the GPS positioning will be described.

Fig. 2 is a schematic plan view of a vehicle positioning according to the embodiment, as shown in fig. 2, when the target vehicle passes through a certain intersection on the preset driving road section and the target vehicle drives along the right lane on the preset driving road section, the current driving position of the target vehicle needs to be determined. Fig. 3 is a schematic view of a scenario of a vehicle positioning method according to the present embodiment, and as shown in fig. 3, it is assumed that a (X0, Y0) is an actual position of a target vehicle, i.e., a current driving position of the target vehicle. The GPS positioning position of the target vehicle is B (X1, Y1), and a right traffic light C (X2, Y2) is arranged at the right front of the target vehicle.

The method comprises the steps of measuring a first distance between a target vehicle and two lane lines (such as a left lane line and a right lane line in fig. 3) on a current driving road section by using a laser radar installed on the target vehicle, acquiring second road surface characteristic information (namely actual road surface characteristic information) in the driving process of the target vehicle in real time, wherein the second road surface characteristic information comprises information such as the left lane line, the right lane line, a left traffic light and a right traffic light, and determining the current driving track line Y of the target vehicle to be Y0 by combining the first distance, the second road surface characteristic information and a digital electronic road map stored in a vehicle storage unit. Since the second distance between the right traffic light and the current driving position of the target vehicle is less than the preset threshold, the right traffic light C (X2, Y2) may be determined as the reference marker.

Further, a circle with the right traffic light C (X2, Y2) as the center and the second distance as the radius is determined as the current travel track circle of the target vehicle, and the current travel track line Y ═ Y0 and the current travel track circle have two intersection points: a (X0, Y0) and D (X3, Y3), distances from the GPS positioning position B (X1, Y1) in these two intersections are AB, DB, respectively, and since the AB distance is smaller than the positioning accuracy of the GPS positioning and the DB distance is larger than the positioning accuracy of the GPS positioning, it is possible to determine the target intersection a (X0, Y0) as the current travel position of the target vehicle.

In one embodiment, the target vehicle may also be located by using a BDS (BeiDou Navigation Satellite System), so as to obtain a BDS location position of the target vehicle, determine a location accuracy of the BDS location, and further correct the BDS location position according to the location accuracy of the BDS location, so as to obtain a current driving position of the target vehicle. The step of correcting the BDS positioning position of the target vehicle according to the BDS is similar to the step performed when using GPS positioning, and the difference between the steps is that the positioning accuracy of the BDS positioning is different from the positioning accuracy of the GPS positioning, and therefore, the description thereof is omitted.

In the above embodiment, the GPS positioning position of the target vehicle can be corrected based on the positioning accuracy of the GPS positioning, so that the accurate current driving position of the target vehicle is obtained, and the accuracy of positioning the target vehicle is improved.

In one embodiment, the driving position information of the target vehicle at a future time may be determined according to the current driving position of the target vehicle and the driving state information at preset time intervals. Based on this, the traveling position information of the target vehicle at the future time is recalculated once every preset time interval. If the second time is defined as a time that is located after the first time and is separated from the first time by a preset time interval, the driving position information determined at the first time may be updated using the driving position information determined at the second time.

In the embodiment, the driving position information of the target vehicle at the future moment can be updated in time according to the preset time interval, so that the accuracy of the driving position information of the target vehicle at the future moment is improved, and the accurate first road characteristic information corresponding to the driving position information is obtained.

In one embodiment, after determining the first road characteristic information corresponding to the driving position information of the target vehicle at the future time, the first road characteristic information corresponding to the driving position information may be stored locally. When it is monitored that the target vehicle reaches a first position corresponding to the driving position information, first road characteristic information which is stored in advance and corresponds to the first position is obtained, and the first road characteristic information is provided for at least one control system in the target vehicle, so that the at least one control system can execute corresponding control operation by using the first road characteristic information.

In this embodiment, after the target vehicle acquires the first road characteristic information corresponding to the first position of the driving position information, the first road characteristic information is provided to at least one control system in the target vehicle, where the at least one control system in the target vehicle may include a steer-by-wire system, a brake system, a suspension system, and other control systems. At least one control system in the target vehicle may perform a corresponding control operation by using the first road characteristic information, for example, a suspension system in the target vehicle may perform a corresponding control on suspension parameters of each wheel of the target vehicle according to the predetermined road characteristic information, specifically: suspension parameter information (suspension rigidity and/or suspension damping) is calculated in advance through road spectrum, road height and other information in the predetermined road surface characteristic information, so that when the target vehicle reaches the first position, suspension parameters of each wheel can be adjusted in time according to the road surface characteristic information corresponding to the first position, the response speed of the suspension is improved, and riding comfort is enhanced.

Fig. 4 is a schematic flowchart of a determination method of road surface information according to another embodiment of the present invention, as shown in fig. 4, including the steps of:

s401, determining a preset running road section to be run by the target vehicle.

S402, acquiring a digital electronic road map corresponding to the preset driving road section from the network side, and analyzing the digital electronic road map corresponding to the preset driving road section to obtain third road surface feature information corresponding to the preset driving road section.

The third road surface characteristic information includes lane line information, road surface convex object information (such as deceleration strip, isolation strip and the like), road surface marker information (such as traffic lights, landmark buildings and the like), road surface height, road spectrum and the like.

And S403, when it is monitored that the target vehicle runs on the preset running road section, acquiring second road surface characteristic information of the preset running road section in real time.

Wherein the second road characteristic information comprises at least one of: lane line information, road surface convex object information, and road surface marker information. The road surface convex object information includes information such as a speed bump, an isolation strip and the like, and the road surface marker information includes information such as a traffic light, a landmark building and the like.

At least one item of information of lane line information, road surface convex object information and road surface mark information can be collected in real time by a vehicle-mounted camera and/or a laser radar which are arranged in the target vehicle.

S404, judging whether the second road surface characteristic information is consistent with the third road surface characteristic information; if yes, go to S405; if not, the process returns to step S403.

In this embodiment, only when all the information in the second road characteristic information and the third road characteristic information are consistent and the GPS positioning information corresponding to the second road characteristic information and the third road characteristic information respectively is matched, it is determined that the second road characteristic information and the third road characteristic information are consistent; and if at least one item of information in the second road surface characteristic information and the third road surface characteristic information is inconsistent, determining that the second road surface characteristic information and the third road surface characteristic information are inconsistent.

S405, a current traveling position of the target vehicle is determined, and traveling state information of the target vehicle is acquired.

In this step, when the current driving position of the target vehicle is determined, the GPS positioning position of the target vehicle may be obtained by performing GPS positioning on the target vehicle, and the GPS positioning position may be corrected according to the positioning accuracy of the GPS positioning, thereby obtaining the current driving position of the target vehicle. The method for correcting the GPS positioning position is described in detail in the above embodiments, and is not described herein again.

The running state information of the target vehicle includes information of a steering wheel angle, a steering wheel torque, a lateral acceleration, a longitudinal acceleration, a vehicle speed, a brake pedal position, a master cylinder pressure, an accelerator pedal position, and the like.

And S406, determining the running position information of the target vehicle at the future moment according to the current running position and the running state information of the target vehicle.

S407, acquiring a digital electronic road map corresponding to the driving position information at a future moment, and analyzing the digital electronic road map to determine first road characteristic information corresponding to the driving position information.

In this step, after the digitized electronic road map corresponding to the driving position information at the future time is obtained, the digitized electronic road map corresponding to the driving position information at the future time may be analyzed to obtain first road characteristic information corresponding to the driving position information, where the first road characteristic information includes information such as road surface height, road spectrum, lane line information, road surface convex object information (information such as speed bumps, isolation strips, and guardrails), and road surface marker information (information such as traffic lights and landmark buildings).

And S408, storing the first road characteristic information corresponding to the running position information at the future time in the local.

S409, when it is monitored that the target vehicle reaches a first position corresponding to the driving position information, first road characteristic information which is stored in advance and corresponds to the first position is obtained, and the first road characteristic information is provided for at least one control system in the target vehicle, so that the at least one control system can execute corresponding control operation by using the first road characteristic information.

Among other things, at least one control system within the subject vehicle may include a steer-by-wire system, a brake system, a suspension system, and the like.

By adopting the technical scheme of the embodiment, before the current running position of the target vehicle is determined, the GPS positioning information is integrated to judge whether the second road characteristic information acquired in real time is consistent with the pre-acquired third road characteristic information, so that the accuracy of the judgment result of whether the road characteristic information is consistent is improved; and after the second road surface characteristic information is determined to be consistent with the third road surface characteristic information, the GPS positioning position of the target vehicle is corrected according to the positioning precision of the GPS positioning, so that the accurate current driving position of the target vehicle is obtained, and the positioning accuracy of the target vehicle is improved. In addition, the running position information of the target vehicle at the future moment is updated in time according to the current running position information and the running state information of the target vehicle and the preset time interval, so that the accuracy of the running position information of the target vehicle at the future moment is improved, and accurate first road characteristic information corresponding to the running position information can be obtained. In addition, the accurate first road characteristic information is provided for relevant control systems (such as a steer-by-wire system and a suspension system) in the target vehicle to execute corresponding control operation, so that the relevant control systems can improve the response speed and timely cope with a complex road surface, and the riding comfort is improved.

In summary, particular embodiments of the present subject matter have been described. Other embodiments are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may be advantageous.

Based on the same idea, the road surface information determining method provided in the embodiment of the present application further provides a road surface information determining device.

Fig. 5 is a schematic block diagram of a road surface information determination device according to an embodiment of the present invention, and as shown in fig. 5, the road surface information determination device includes:

the first determining module 510 is configured to determine a current driving position of a target vehicle when it is monitored that the target vehicle is driving on a preset driving road section; acquiring running state information of the target vehicle;

a second determining module 520, configured to determine, according to the current driving position and the driving state information, driving position information of the target vehicle at a future time;

a third determining module 530, configured to obtain a digital electronic road map corresponding to the driving position information; and determining first road characteristic information corresponding to the driving position information according to the digital electronic road map corresponding to the driving position information.

In one embodiment, the first determining module 510 includes:

the positioning unit is used for carrying out Global Positioning System (GPS) positioning on the target vehicle to obtain a GPS positioning position of the target vehicle; and acquiring the positioning precision of the GPS positioning;

and the correction unit is used for correcting the GPS positioning position according to the positioning precision of the GPS positioning to obtain the current running position of the target vehicle.

In one embodiment, the apparatus further comprises:

the acquisition module is used for acquiring second road surface characteristic information of the preset driving road section before the current driving position of the target vehicle is determined; acquiring predetermined third road surface characteristic information, wherein the third road surface characteristic information is determined according to a digital electronic road map which is acquired in advance and corresponds to the preset driving road section;

the judging module is used for judging whether the second road surface characteristic information is consistent with the third road surface characteristic information or not;

and the execution module is used for executing the step of determining the current running position of the vehicle if the current running position of the vehicle is consistent with the current running position of the vehicle.

In one embodiment, the road surface characteristic information includes at least one of: lane line information, road surface convex object information, and road surface marker information.

The judging module comprises:

a first determining unit, configured to determine that the second road characteristic information is inconsistent with the third road characteristic information if at least one of the second road characteristic information and the third road characteristic information is inconsistent;

a second determining unit, configured to determine, if all information in the second road characteristic information and the third road characteristic information is consistent, GPS positioning information corresponding to the second road characteristic information and the third road characteristic information, respectively; and when the second road surface characteristic information and the third road surface characteristic information respectively correspond to the GPS positioning information, determining that the second road surface characteristic information and the third road surface characteristic information are consistent.

In one embodiment, the correction unit is further configured to:

determining a first distance between the target vehicle and lane lines on two sides of a current driving road section, and determining a current driving track line of the target vehicle according to the first distance; correcting the GPS positioning position according to the positioning accuracy of the GPS positioning to obtain the current driving position of the target vehicle, determining a first distance between the target vehicle and lane lines on two sides of the current driving road section, and determining the current driving track line of the target vehicle according to the first distance;

determining a reference marker on the current driving road section and with a second distance between the current driving road section and the target vehicle being smaller than a preset threshold value; determining a current driving track circle which takes the reference marker as a circle center and the second distance as a radius; the current driving trajectory line and the current driving trajectory circle have two intersection points;

and determining a target intersection point with the distance between the target intersection point and the GPS positioning position smaller than the positioning precision from the two intersection points, and determining the position corresponding to the target intersection point as the current running position of the target vehicle.

In one embodiment, the driving state information includes at least one of: steering wheel angle, steering wheel torque, lateral acceleration, longitudinal acceleration, vehicle speed.

The second determining module 520 includes:

a third determining unit, configured to determine, according to a preset time interval, driving position information of the target vehicle at a future time according to the current driving position and the driving state information;

an updating unit configured to update the travel position information determined at the first time using the travel position information determined at the second time; the second time is a time which is located after the first time and is separated from the first time by the preset time interval.

In one embodiment, the apparatus further comprises:

the storage module is used for storing the first road characteristic information corresponding to the running position information in a local place after the first road characteristic information corresponding to the running position information is determined;

the acquisition module is used for acquiring the pre-stored first road characteristic information corresponding to the first position when the target vehicle is monitored to reach the first position corresponding to the driving position information;

a providing module configured to provide the first road characteristic information to at least one control system in the target vehicle to cause the at least one control system to perform a corresponding control operation using the first road characteristic information. It should be understood by those skilled in the art that the above-mentioned device for determining road surface information can be used to implement the above-mentioned method for determining road surface information, wherein the detailed description should be similar to the above-mentioned method, and in order to avoid complexity, it is not repeated herein.

By adopting the device provided by the embodiment of the invention, when the situation that the target vehicle runs on the preset running road section is monitored, the current running position of the target vehicle is determined, the running state information of the target vehicle is obtained, the running position information of the target vehicle at the future moment is determined according to the current running position and the running state information of the target vehicle, and the first road characteristic information corresponding to the running position information is determined by obtaining the digital electronic road map corresponding to the running position information. Therefore, the technical scheme can accurately predict the running position information of the target vehicle at the future moment based on the current running position and the running state information of the target vehicle, and can determine the road surface characteristic information of each running position at the future moment in advance before the vehicle reaches each running position at the future moment, so that timely and accurate road surface characteristic information is provided for the vehicle. Furthermore, timely and accurate road characteristic information can also remarkably improve the response speed of related control systems (such as a steer-by-wire system and a suspension system) in the vehicle, so that the operation stability and the riding comfort of the vehicle are improved.

Based on the same idea, an embodiment of the present application further provides a road surface information determining device, as shown in fig. 6. The determination device of the road surface information may have a relatively large difference due to different configurations or performances, and may include one or more processors 601 and a memory 602, and one or more stored applications or data may be stored in the memory 602. Wherein the memory 602 may be transient or persistent storage. The application stored in memory 602 may include one or more modules (not shown), each of which may include a series of computer-executable instructions in a determination device for road information. Still further, the processor 601 may be configured to communicate with the memory 602 to execute a series of computer-executable instructions in the memory 602 on a road surface information determination device. The determination of road surface information may also include one or more power supplies 603, one or more wired or wireless network interfaces 604, one or more input-output interfaces 605, one or more keyboards 606.

In particular, in this embodiment, the apparatus for determining road surface information includes a memory, and one or more programs, wherein the one or more programs are stored in the memory, and the one or more programs may include one or more modules, and each module may include a series of computer-executable instructions in the apparatus for determining road surface information, and the one or more programs configured to be executed by one or more processors include computer-executable instructions for:

Optionally, the computer executable instructions, when executed, may further cause the processor to:

carrying out Global Positioning System (GPS) positioning on the target vehicle to obtain a GPS positioning position of the target vehicle; and acquiring the positioning precision of the GPS positioning;

and correcting the GPS positioning position according to the positioning precision of the GPS positioning to obtain the current running position of the target vehicle.

before the current driving position of the target vehicle is determined, collecting second road surface characteristic information of the preset driving road section; acquiring predetermined third road surface characteristic information, wherein the third road surface characteristic information is determined according to a digital electronic road map which is acquired in advance and corresponds to the preset driving road section;

judging whether the second road surface characteristic information is consistent with the third road surface characteristic information or not;

and if so, executing the step of determining the current running position of the vehicle.

Optionally, the road surface characteristic information comprises at least one of: lane line information, road surface convex object information, road surface marker information;

the computer executable instructions, when executed, may further cause the processor to:

if at least one item of information in the second road characteristic information and the third road characteristic information is inconsistent, determining that the second road characteristic information and the third road characteristic information are inconsistent;

if all the information in the second road characteristic information and the third road characteristic information is consistent, determining GPS positioning information corresponding to the second road characteristic information and the third road characteristic information respectively; and when the second road surface characteristic information and the third road surface characteristic information respectively correspond to the GPS positioning information, determining that the second road surface characteristic information and the third road surface characteristic information are consistent.

determining a first distance between the target vehicle and lane lines on two sides of a current driving road section, and determining a current driving track line of the target vehicle according to the first distance;

Optionally, the driving state information includes at least one of: steering wheel angle, steering wheel torque, lateral acceleration, longitudinal acceleration, vehicle speed;

determining the running position information of the target vehicle at a future moment according to the current running position and the running state information at preset time intervals;

updating the travel position information determined at the first time using the travel position information determined at the second time; the second time is a time which is located after the first time and is separated from the first time by the preset time interval.

after the first road characteristic information corresponding to the running position information is determined, storing the first road characteristic information corresponding to the running position information in a local place;

when it is monitored that the target vehicle reaches a first position corresponding to the driving position information, acquiring prestored first road characteristic information corresponding to the first position;

providing the first road characteristic information to at least one control system within the target vehicle to cause the at least one control system to perform a corresponding control operation using the first road characteristic information.

An embodiment of the present application further provides a storage medium storing one or more computer programs, where the one or more computer programs include instructions, which when executed by an electronic device including a plurality of application programs, enable the electronic device to execute the above-mentioned method for determining road surface information, and are specifically configured to execute:

Optionally, the instructions, when executed by an electronic device comprising a plurality of applications, may further perform:

Optionally, the road surface characteristic information includes at least one of: lane line information, road surface convex object information, road surface marker information;

the instructions, when executed by an electronic device comprising a plurality of applications, may further perform:

The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functionality of the units may be implemented in one or more software and/or hardware when implementing the present application.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application 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.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. 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 apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, 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 apparatus 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 apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method of determining road surface information, comprising:

acquiring a digital electronic road map corresponding to the driving position information; determining first road characteristic information corresponding to the driving position information according to the digital electronic road map corresponding to the driving position information;

before the determining the current driving position of the target vehicle, the method further comprises:

collecting second road surface characteristic information of the preset driving road section; acquiring predetermined third road surface characteristic information, wherein the third road surface characteristic information is determined according to a digital electronic road map which is acquired in advance and corresponds to the preset driving road section;

if the current driving position of the vehicle is consistent with the current driving position of the vehicle, executing a step of determining the current driving position of the vehicle;

the road surface characteristic information includes at least one of: lane line information, road surface convex object information, road surface marker information;

the determining whether the second road surface characteristic information is consistent with the third road surface characteristic information includes:

if all the information in the second road characteristic information and the third road characteristic information is consistent, determining GPS positioning information corresponding to the second road characteristic information and the third road characteristic information respectively; and when the second road characteristic information and the third road characteristic information respectively correspond to the GPS positioning information, determining that the second road characteristic information and the third road characteristic information are consistent.

2. The method of claim 1, wherein the determining the current driving location of the target vehicle comprises:

3. The method according to claim 2, wherein the correcting the GPS positioning position according to the positioning accuracy of the GPS positioning to obtain the current driving position of the target vehicle comprises:

4. The method of claim 1, wherein the driving status information comprises at least one of: steering wheel angle, steering wheel torque, lateral acceleration, longitudinal acceleration, vehicle speed;

the determining the driving position information of the target vehicle at the future time according to the current driving position and the driving state information includes:

5. The method according to claim 1, wherein after determining the first road characteristic information corresponding to the driving position information, the method further comprises:

storing the first road characteristic information corresponding to the driving position information in a local place;

6. A determination device of road surface information, characterized by comprising:

the third determining module is used for acquiring a digital electronic road map corresponding to the driving position information; determining first road characteristic information corresponding to the driving position information according to the digital electronic road map corresponding to the driving position information;

further comprising:

the judging module is used for judging whether the second road surface characteristic information is consistent with the third road surface characteristic information or not; the execution module is used for executing the step of determining the current running position of the vehicle if the current running position of the vehicle is consistent with the current running position of the vehicle;

the judging module comprises:

a second determining unit, configured to determine, if all information in the second road characteristic information and the third road characteristic information is consistent, GPS positioning information corresponding to the second road characteristic information and the third road characteristic information, respectively; and when the second road characteristic information and the third road characteristic information respectively correspond to the GPS positioning information, determining that the second road characteristic information and the third road characteristic information are consistent.

7. A road surface information determination apparatus comprising a processor and a memory electrically connected to the processor, the memory storing a computer program, the processor being configured to call and execute the computer program from the memory to implement the road surface information determination method according to any one of claims 1 to 5.

8. A storage medium characterized by storing a computer program which, when executed by a processor, implements the determination method of road surface information according to any one of claims 1 to 5.