CN112309004B - Virtual deceleration strip generation method and device, vehicle and storage medium - Google Patents
Virtual deceleration strip generation method and device, vehicle and storage medium Download PDFInfo
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- CN112309004B CN112309004B CN202011194261.3A CN202011194261A CN112309004B CN 112309004 B CN112309004 B CN 112309004B CN 202011194261 A CN202011194261 A CN 202011194261A CN 112309004 B CN112309004 B CN 112309004B
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- 238000004590 computer program Methods 0.000 claims description 18
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- 238000001514 detection method Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/068—Road friction coefficient
Abstract
The embodiment of the invention provides a virtual deceleration strip generation method, a virtual deceleration strip generation device, a vehicle and a storage medium, wherein the method comprises the following steps: acquiring the driving direction and pose information of a vehicle; when pitch acceleration information is detected, generating a first virtual deceleration strip according to the current pose information of the vehicle; judging whether a second virtual deceleration strip which is generated in advance and matched with the first virtual deceleration strip exists or not; and if so, generating a target virtual deceleration strip according to the driving direction, the first virtual deceleration strip and the second virtual deceleration strip. According to the embodiment of the invention, the deceleration strip which is driven by the vehicle can be determined according to the pose and the driving direction of the vehicle, and the corresponding virtual deceleration strip can be generated. The embodiment of the invention can accurately detect the deceleration strip driven by the vehicle based on the pose and the driving direction of the vehicle.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a virtual deceleration strip generation method, a virtual deceleration strip generation device, a vehicle and a storage medium.
Background
In the process of automatic parking, a vehicle may pass through a deceleration strip, the existence of the deceleration strip can influence the smoothness and comfort of the vehicle in the driving process, and important reference information can be provided when the vehicle passes through the deceleration strip in the automatic parking process by generating and recording the passing deceleration strip information in the parking space searching process, so that the control parameters such as the vehicle advancing speed and the motor torque can be reasonably adjusted.
In the existing scheme, the generated deceleration strip information may be different in the driving state of the vehicle, and the virtual strip information generated for the same virtual strip is also different, so that the accuracy of the virtual strip information is low.
Disclosure of Invention
In view of the above problems, embodiments of the present invention are provided to provide a virtual deceleration strip generation method and a corresponding virtual deceleration strip generation apparatus, vehicle and storage medium, which overcome or at least partially solve the above problems.
In order to solve the above problem, an embodiment of the present invention discloses a virtual deceleration strip generation method, where the method includes:
acquiring the driving direction and pose information of a vehicle;
when pitch acceleration information is detected, generating a first virtual deceleration strip according to the current pose information of the vehicle;
judging whether a second virtual deceleration strip which is matched with the first virtual deceleration strip and is generated in advance exists or not;
and if so, generating a target virtual deceleration strip according to the driving direction, the first virtual deceleration strip and the second virtual deceleration strip.
Optionally, the determining whether there is a second historically generated virtual deceleration strip that matches the first virtual deceleration strip includes:
acquiring a previously generated cache virtual deceleration strip;
judging whether the cache virtual deceleration strip meets a matching condition corresponding to the first virtual deceleration strip;
and if so, determining that the cache virtual deceleration strip meeting the matching condition is a second virtual deceleration strip.
Optionally, the step of judging whether the cache virtual deceleration strip meets the matching condition corresponding to the first virtual deceleration strip includes:
extracting a first position of the first virtual deceleration strip;
extracting a second position of the cache virtual deceleration strip;
determining an included angle formed by the first virtual deceleration strip and the cache virtual deceleration strip;
and when the distance between the first position and the second position is smaller than a first preset threshold value and the included angle is smaller than a second preset threshold value, determining that the cache virtual deceleration strip meets a preset matching condition.
Optionally, the generating a target virtual deceleration strip according to the driving direction, the first virtual deceleration strip and the second virtual deceleration strip includes:
determining a first weight value and a second weight value according to the driving direction;
generating a target virtual deceleration strip according to the first weight value, the second weight, the first virtual deceleration strip and the second virtual deceleration strip;
the first weight value corresponds to the first virtual deceleration strip, and the second weight value corresponds to the second virtual deceleration strip.
Optionally, the vehicle is provided with front and rear wheels; the step of determining the first weight value and the second weight value according to the driving direction comprises the following steps:
determining that the first weight value corresponds to one of the front wheels and the rear wheels, and the second weight value corresponds to the other of the front wheels and the rear wheels;
if the driving direction is forward and the first weight value corresponds to the rear wheel, determining that the first weight value is a first preset value and determining that the second weight value is a second preset value;
if the driving direction is backward and the first weight value corresponds to the front wheel, determining that the first weight value is a first preset value and determining that the second weight value is a second preset value;
wherein the first preset value is greater than the second preset value.
Optionally, the method further comprises:
generating corresponding driving control parameters based on the target virtual deceleration strip;
and controlling the vehicle to drive through the position corresponding to the target virtual deceleration strip according to the driving control parameters.
Optionally, the method further comprises:
storing the target virtual deceleration strip into local map data;
and/or uploading the target virtual deceleration strip to a server; the server is used for sharing the target virtual deceleration strip with one or more other vehicles.
The embodiment of the invention also discloses a virtual deceleration strip generating device, which comprises:
the acquisition module is used for acquiring the driving direction and the pose information of the vehicle;
the first virtual deceleration strip module is used for generating a first virtual deceleration strip according to the current pose information of the vehicle when the pitching acceleration information is detected;
the second virtual deceleration strip module is used for judging whether a previously generated second virtual deceleration strip matched with the first virtual deceleration strip exists or not;
and if so, generating a target virtual deceleration strip according to the driving direction, the first virtual deceleration strip and the second virtual deceleration strip.
The embodiment of the invention also discloses a vehicle, which comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the method for generating the virtual speed bump is realized.
The embodiment of the invention also discloses a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the method for generating the virtual deceleration strip is realized.
The embodiment of the invention has the following advantages:
the virtual deceleration strip is generated according to the pitching acceleration information and the position of the vehicle, when the first virtual deceleration strip and the second virtual deceleration strip which are matched with each other are generated according to the pose information in sequence, the target virtual deceleration strip is generated according to the driving direction of the vehicle, the first virtual deceleration strip and the second virtual deceleration strip, so that the deceleration strip is generated by fusing the pose and the accuracy of the generation of the target virtual deceleration strip is improved by combining the driving direction.
Drawings
Fig. 1 is a flowchart illustrating steps of an embodiment of a virtual deceleration strip generation method according to the present invention;
FIG. 2 is a schematic diagram illustrating the generation of a virtual deceleration strip according to the present invention;
FIG. 3 is a schematic diagram of another virtual deceleration strip generation of the present invention;
fig. 4 is a block diagram of a virtual deceleration strip generation apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
One of the core concepts of the embodiment of the invention is that a virtual deceleration strip is generated according to pitching acceleration information and the position of a vehicle, when a first virtual deceleration strip and a second virtual deceleration strip which are matched with each other are generated according to pose information in sequence, a target virtual deceleration strip is generated according to the driving direction of the vehicle, the first virtual deceleration strip and the second virtual deceleration strip, so that the pose is fused to generate the deceleration strip, and the accuracy of generating the target virtual deceleration strip is improved by combining the driving direction.
Referring to fig. 1, a flowchart illustrating steps of an embodiment of a virtual deceleration strip generation method according to the present invention is shown, which specifically includes the following steps:
the driving direction refers to a vehicle driving direction, for example: either forward or backward.
Pose information may include, but is not limited to, vehicle orientation, location, etc.
In practice, the position of the midpoint of the rear wheel axle (or the midpoint between two rear wheels) in the vehicle may be taken as the position of the vehicle. The vehicle may be oriented in a direction from the tail to the head of the vehicle, specifically, the vehicle may be oriented in a direction perpendicular to the rear wheel axle and toward the head of the vehicle with a midpoint of the rear wheel axle as a starting point. Step 102, when pitch acceleration information is detected, generating a first virtual deceleration strip according to the current pose information of the vehicle;
the deceleration strip is also called a deceleration ridge and is a traffic facility which is arranged on a road and used for decelerating passing vehicles. The road may be an outdoor road, for example: urban roads, expressways, etc., but also indoor roads, such as: an indoor parking lot road, etc. The virtual deceleration strip in the embodiment of the invention can be a virtual object corresponding to the entity deceleration strip, and the virtual deceleration strip can be used as data to be stored, transmitted and recognized by a vehicle.
An Inertial Measurement Unit (IMU) may be disposed in the vehicle, and the IMU may detect acceleration of the vehicle in a vertical direction (perpendicular to a wheel contact surface, e.g., the ground) and generate a corresponding vertical direction detection signal.
When the vertical direction detection signal is monitored to be a signal (such as a pulse signal) conforming to the characteristics of the deceleration strip, the pitch acceleration information of the vehicle in the vertical direction is determined, and then a first virtual deceleration strip is generated according to the current pose information of the vehicle.
It will be appreciated that the inertial measurement unit may also detect acceleration of the vehicle in other directions, such as horizontally.
and comparing the first virtual deceleration strip serving as a virtual deceleration strip to be matched with a previously generated virtual deceleration strip, and judging whether a second virtual deceleration strip matched with the first virtual deceleration strip exists or not.
The first virtual deceleration strip and the second virtual deceleration strip can be different virtual deceleration strips generated when the front wheels and the rear wheels pass through the same entity deceleration strip. I.e. the first virtual deceleration strip corresponds to one of the front and rear wheels and the second virtual deceleration strip corresponds to the other of the front and rear wheels, i.e. the first virtual deceleration strip corresponds to the other of the front and rear wheels
And 104, if so, generating a target virtual deceleration strip according to the driving direction, the first virtual deceleration strip and the second virtual deceleration strip.
And if a second virtual deceleration strip matched with the first virtual deceleration strip exists, performing weighting processing on the first virtual deceleration strip and the second virtual deceleration strip according to the driving direction to obtain a target virtual deceleration strip.
In the embodiment of the invention, the virtual deceleration strip is generated according to the pitching acceleration information and the position of the vehicle, when the first virtual deceleration strip and the second virtual deceleration strip which are matched with each other are generated according to the pose information in sequence, the target virtual deceleration strip is generated according to the driving direction of the vehicle, the first virtual deceleration strip and the second virtual deceleration strip, so that the deceleration strip is generated by fusing the poses, and the accuracy of generating the target virtual deceleration strip is improved by combining the driving direction.
In an alternative embodiment of the present invention, step 103 comprises:
acquiring a previously generated cache virtual deceleration strip;
judging whether the cache virtual deceleration strip meets a matching condition corresponding to the first virtual deceleration strip;
and if so, determining that the cache virtual deceleration strip meeting the matching condition is a second virtual deceleration strip.
When the vehicle generates a first virtual deceleration strip and judges that a second virtual deceleration strip matched with the first virtual deceleration strip does not exist, the first virtual deceleration strip is used as a cache virtual deceleration strip to be cached, and the cached virtual deceleration strip is determined to be the cache virtual deceleration strip.
The vehicle can draw the virtual deceleration strip of the first definite buffer memory after generating first deceleration strip to compare the virtual deceleration strip of buffer memory with the matching condition that first virtual deceleration strip corresponds, judge whether the virtual deceleration strip of buffer memory satisfies the matching condition that corresponds with first virtual deceleration strip, if satisfy, then confirm that this satisfies the virtual deceleration strip of buffer memory of matching condition is the virtual deceleration strip of second.
The method comprises the steps of obtaining a cache virtual deceleration strip generated in advance, specifically traversing the cache virtual deceleration strip, and judging whether the cache virtual deceleration strip meets the matching condition corresponding to the first virtual deceleration strip one by one.
In an optional embodiment of the present invention, the step of determining whether the cache virtual deceleration strip satisfies a matching condition corresponding to the first virtual deceleration strip includes:
extracting a first position of the first virtual deceleration strip;
extracting a second position of the cache virtual deceleration strip;
determining an included angle formed by the first virtual deceleration strip and the cache virtual deceleration strip;
and when the distance between the first position and the second position is smaller than a first preset threshold value and the included angle is smaller than a second preset threshold value, determining that the cache virtual deceleration strip meets a preset matching condition.
The first position can be the center position of the first virtual deceleration strip, and the second position can be the center position of the cache virtual deceleration strip; the included angle formed by the first virtual deceleration strip and the cache virtual deceleration strip is the included angle formed by the straight line where the first virtual deceleration strip is located and the straight line where the cache virtual deceleration strip is located.
When the distance between the first position and the second position is smaller than a first preset threshold value and the included angle is smaller than a second preset threshold value (namely, the distance between the first virtual deceleration strip and the second virtual deceleration strip is smaller and the included angle formed by the first virtual deceleration strip and the second virtual deceleration strip is smaller), it is determined that the cache virtual deceleration strip meets a preset matching condition.
The embodiment of the present invention does not limit the specific numerical values of the first preset threshold and the second preset threshold.
In an optional embodiment of the present invention, the generating a target virtual deceleration strip according to a driving direction, the first virtual deceleration strip and the second virtual deceleration strip includes:
determining a first weight value and a second weight value according to the driving direction;
generating a target virtual deceleration strip according to the first weight value, the second weight, the first virtual deceleration strip and the second virtual deceleration strip;
the first weight value corresponds to the first virtual deceleration strip, and the second weight value corresponds to the second virtual deceleration strip.
The method comprises the steps of determining a first weight value corresponding to a first virtual deceleration strip according to the driving direction, determining a second weight value corresponding to a second virtual deceleration strip, and generating a target virtual deceleration strip according to the first weight value, the second weight value, the first virtual deceleration strip and the second virtual deceleration strip so as to realize the weighted fusion according to the driving direction of a vehicle by combining the first virtual deceleration strip and the second virtual deceleration strip, thereby improving the accuracy of the target virtual deceleration strip.
In an alternative embodiment of the invention, the vehicle is provided with front and rear wheels; the step of determining a first weight value and a second weight value according to the driving direction includes:
determining that the first virtual speed bump corresponds to one of a front wheel and a rear wheel and the other of the front wheel and the rear wheel according to the driving direction;
if the driving direction is forward and the first weight value corresponds to the rear wheel, determining that the first weight value is a first preset value and determining that the second weight value is a second preset value;
if the driving direction is backward and the first weight value corresponds to the front wheel, determining that the first weight value is a first preset value and determining that the second weight value is a second preset value;
wherein the first preset value is greater than the second preset value.
The first virtual deceleration strip and the second virtual deceleration strip are generated when a front wheel and a rear wheel of the vehicle pass through the same entity deceleration strip.
When the first virtual deceleration strip corresponds to the rear wheel, if the vehicle driving direction is forward, the first weight value is larger than the second weight value, otherwise, the first weight value is smaller than the second weight value.
When the first virtual deceleration strip corresponds to the front wheel, if the driving direction of the vehicle is backward, the first weight value is larger than the second weight value, otherwise, the first weight value is smaller than the second weight value.
In one example, the first preset value is 1 and the second preset value is 0. Namely, it is
If the driving direction is forward, determining a virtual deceleration strip corresponding to the rear wheel (a virtual deceleration strip generated by the rear wheel passing through an entity deceleration strip) as a target virtual deceleration strip;
and if the driving direction is backward, determining a virtual deceleration strip corresponding to the front wheel (a virtual deceleration strip generated by the front wheel passing through the entity deceleration strip) as a target virtual deceleration strip.
In a specific example, referring to fig. 2, a schematic diagram of virtual deceleration strip generation according to the present invention is shown, when a vehicle is driving forward and a front wheel passes through a certain solid deceleration strip, a front wheel virtual deceleration strip 301 is generated, and the front wheel virtual deceleration strip 301 is determined as a cache virtual deceleration strip. Referring to fig. 3, a schematic diagram of generating a virtual deceleration strip according to another embodiment of the present invention is shown, where when a vehicle continues to run through a same entity deceleration strip, a rear-wheel virtual deceleration strip 302 is generated, where the rear-wheel virtual deceleration strip 302 is a first virtual deceleration strip, and a front-wheel virtual deceleration strip 301 matching the rear-wheel virtual deceleration strip 302 exists in a cache virtual deceleration strip (i.e., a front-wheel virtual deceleration strip 301 is a second virtual deceleration strip). Because the driving direction of the vehicle is forward and the first weight value corresponds to the rear wheel, the first weight value is greater than the second weight value. And when the first weight value is 1 and the second weight value is 0, taking the rear wheel virtual deceleration strip, namely the virtual deceleration strip generated when the rear wheel passes through the entity deceleration strip, as the target virtual deceleration strip.
It is understood that, in other practical applications, the first preset value and the second preset value may be other values.
In an optional embodiment of the invention, the method further comprises: generating corresponding driving control parameters based on the target virtual deceleration strip; and controlling the vehicle to drive through the position corresponding to the target virtual deceleration strip according to the driving control parameters.
Corresponding driving control parameters can be generated based on the position of the target virtual deceleration strip, so that the vehicle is controlled to run according to the driving control parameters when the vehicle is controlled to run through the position of the target virtual deceleration strip, and the vehicle can stably run through the position of the target virtual deceleration strip.
In an optional embodiment of the invention, the target virtual deceleration strip is stored in local map data;
and/or uploading the target virtual deceleration strip to a server; the server is used for sharing the target virtual deceleration strip with one or more other vehicles.
By storing the target virtual deceleration strip in the local map data, the planned route can be generated by combining the target virtual deceleration strip when the route of the current vehicle is planned, or the deceleration strip at the corresponding position can be checked when the user of the current vehicle checks the map.
By uploading the target virtual deceleration strip to the server, the server can share the target virtual deceleration strip with other vehicles, so that other vehicles can generate a planned route by combining the target virtual deceleration strip when planning the route, or users of other vehicles can check that the deceleration strip exists at a corresponding position when checking a map.
It can be understood that the current vehicle can also receive target virtual deceleration strip related data uploaded by other vehicles through the server.
It should be noted that for simplicity of description, the method embodiments are shown as a series of combinations of acts, but those skilled in the art will recognize that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. 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. 4, a block diagram of a virtual deceleration strip generation apparatus according to an embodiment of the present invention is shown, and specifically includes the following modules:
the acquiring module 401 is configured to acquire driving direction and pose information of a vehicle;
a first virtual deceleration strip module 402, configured to generate a first virtual deceleration strip according to the current pose information of the vehicle when pitch acceleration information is detected;
a second virtual deceleration strip module 403, configured to determine whether there is a previously generated second virtual deceleration strip that matches the first virtual deceleration strip;
and a target virtual deceleration strip module 404, configured to generate a target virtual deceleration strip according to the driving direction, the first virtual deceleration strip and the second virtual deceleration strip if there is a second previously generated virtual deceleration strip that matches the first virtual deceleration strip.
In an optional embodiment of the present invention, the second virtual deceleration strip module 403 includes:
the cache submodule is used for acquiring a previously generated cache virtual deceleration strip;
the matching submodule is used for judging whether the cache virtual deceleration strip meets the matching condition corresponding to the first virtual deceleration strip;
and the determining submodule is used for determining the cache virtual deceleration strip meeting the matching condition as a second virtual deceleration strip if the cache virtual deceleration strip meets the preset matching condition.
In an optional embodiment of the invention, the matching sub-module comprises:
the first position unit is used for extracting a first position of the first virtual deceleration strip;
the second position unit is used for extracting a second position of the cache virtual deceleration strip;
the included angle unit is used for determining an included angle formed by the first virtual deceleration strip and the cache virtual deceleration strip;
and the matching unit is used for determining that the virtual deceleration strip meets a preset matching condition when the distance between the first position and the second position is smaller than a first preset threshold and the included angle is smaller than a second preset threshold.
In an optional embodiment of the present invention, target virtual deceleration strip module 404 includes:
the weight submodule is used for determining a first weight value and a second weight value according to the driving direction;
the generation submodule is used for generating a target virtual deceleration strip according to the first weight value, the second weight value, the first virtual deceleration strip and the second virtual deceleration strip;
the first weight value corresponds to the first virtual deceleration strip, and the second weight value corresponds to the second virtual deceleration strip.
In an alternative embodiment of the invention, the vehicle is provided with front and rear wheels; the weight submodule includes:
a first determination unit for determining that the first weight value corresponds to one of the front wheels and the rear wheels, and the second weight value corresponds to the other of the front wheels and the rear wheels;
the second determining unit is used for determining that the first weight value is a first preset value and determining that the second weight value is a second preset value if the driving direction is forward;
the third determining unit is used for determining that the first weight value is a second preset value and determining that the second weight value is the first preset value if the driving direction is backward;
wherein the first preset value is greater than the second preset value.
In an optional embodiment of the invention, the apparatus further comprises:
the control parameter generation module is used for generating corresponding driving control parameters based on the target virtual deceleration strip;
and the driving control module is used for controlling the vehicle to drive through the position corresponding to the target virtual deceleration strip according to the driving control parameters.
In an optional embodiment of the invention, the apparatus further comprises:
the storage module is used for storing the target virtual deceleration strip into local map data;
and/or the presence of a gas in the gas,
the uploading module is used for uploading the target virtual deceleration strip to a server; the server is used for sharing the target virtual deceleration strip with one or more other vehicles.
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 embodiment of the invention also discloses a vehicle, which comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the method for generating the virtual speed bump is realized.
The embodiment of the invention also discloses a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the method for generating the virtual deceleration strip is realized.
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 of skill 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 the preferred embodiment and all changes and modifications that fall within the true scope of the embodiments of the present 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 phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or terminal device that comprises the element.
The virtual deceleration strip generation method, the virtual deceleration strip generation device, the vehicle and the storage medium provided by the invention are described in detail, a specific example is applied in the text to explain the principle and the implementation of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the 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 virtual deceleration strip generation method is characterized by comprising the following steps:
acquiring the driving direction and the pose information of a vehicle;
when pitch acceleration information is detected, generating a first virtual deceleration strip according to the current pose information of the vehicle;
judging whether a second virtual deceleration strip which is matched with the first virtual deceleration strip and is generated in advance exists or not;
if so, generating a target virtual deceleration strip according to the driving direction, the first virtual deceleration strip and the second virtual deceleration strip;
when a previously generated cache virtual deceleration strip meets a matching condition corresponding to the first virtual deceleration strip, determining that the cache virtual deceleration strip is the second virtual deceleration strip; the matching condition is that the distance between the first position of the first virtual deceleration strip and the second position of the cache virtual deceleration strip is smaller than a first preset threshold, and an included angle formed by the first virtual deceleration strip and the cache virtual deceleration strip is smaller than a second preset threshold.
2. The method according to claim 1, wherein said determining whether there is a second historically generated virtual deceleration strip that matches the first virtual deceleration strip comprises:
acquiring a previously generated cache virtual deceleration strip;
judging whether the cache virtual deceleration strip meets a matching condition corresponding to the first virtual deceleration strip;
and if so, determining that the cache virtual deceleration strip meeting the matching condition is a second virtual deceleration strip.
3. The method according to claim 2, wherein the step of determining whether the cache virtual deceleration strip meets the matching condition corresponding to the first virtual deceleration strip comprises:
extracting a first position of the first virtual deceleration strip;
extracting a second position of the cache virtual deceleration strip;
determining an included angle formed by the first virtual deceleration strip and the cache virtual deceleration strip;
and when the distance between the first position and the second position is smaller than a first preset threshold value and the included angle is smaller than a second preset threshold value, determining that the cache virtual deceleration strip meets a preset matching condition.
4. The method of claim 1, wherein the vehicle is provided with front and rear wheels; the generating of the target virtual deceleration strip according to the driving direction, the first virtual deceleration strip and the second virtual deceleration strip comprises the following steps:
determining that the first virtual speed bump corresponds to one of a front wheel and a rear wheel and that the first virtual speed bump corresponds to the other of the front wheel and the rear wheel according to the driving direction;
determining a first weight value and a second weight value according to the driving direction;
generating a target virtual deceleration strip according to the first weight value, the second weight, the first virtual deceleration strip and the second virtual deceleration strip;
the first weight value corresponds to the first virtual deceleration strip, and the second weight value corresponds to the second virtual deceleration strip.
5. The method of claim 4, wherein the vehicle is provided with front wheels and rear wheels; the step of determining a first weight value and a second weight value according to the driving direction includes:
determining that the first weight value corresponds to one of the front wheels and the rear wheels, and the second weight value corresponds to the other of the front wheels and the rear wheels;
if the driving direction is forward and the first weight value corresponds to the rear wheel, determining that the first weight value is a first preset value and determining that the second weight value is a second preset value;
if the driving direction is backward and the first weight value corresponds to the front wheel, determining that the first weight value is a first preset value and determining that the second weight value is a second preset value;
wherein the first preset value is greater than the second preset value.
6. The method of claim 1, further comprising:
generating corresponding driving control parameters based on the target virtual deceleration strip;
and controlling the vehicle to drive through the position corresponding to the target virtual deceleration strip according to the driving control parameters.
7. The method of claim 1, further comprising:
storing the target virtual deceleration strip into local map data;
and/or uploading the target virtual deceleration strip to a server; the server is used for sharing the target virtual deceleration strip with one or more other vehicles.
8. A virtual deceleration strip generation device, characterized in that the device comprises:
the acquisition module is used for acquiring the driving direction and the pose information of the vehicle;
the first virtual deceleration strip module is used for generating a first virtual deceleration strip according to the current pose information of the vehicle when the pitching acceleration information is detected;
the second virtual deceleration strip module is used for judging whether a previously generated second virtual deceleration strip matched with the first virtual deceleration strip exists or not;
the target virtual deceleration strip module is used for generating a target virtual deceleration strip according to the driving direction, the first virtual deceleration strip and the second virtual deceleration strip if the target virtual deceleration strip is in the driving direction;
when a previously generated cache virtual deceleration strip meets a matching condition corresponding to the first virtual deceleration strip, determining that the cache virtual deceleration strip is the second virtual deceleration strip; the matching condition is that the distance between the first position of the first virtual deceleration strip and the second position of the cache virtual deceleration strip is smaller than a first preset threshold, and an included angle formed by the first virtual deceleration strip and the cache virtual deceleration strip is smaller than a second preset threshold.
9. A vehicle comprising a processor, a memory, and a computer program stored on the memory and capable of running on the processor, the computer program when executed by the processor implementing the method of virtual deceleration strip generation according to any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the method of virtual deceleration strip generation according to any one of claims 1 to 7.
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| CN111824130A (en) * | 2020-07-09 | 2020-10-27 | 广州小鹏车联网科技有限公司 | Parking control method and device, vehicle and storage medium |
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| KR102440674B1 (en) * | 2016-12-09 | 2022-09-05 | 현대자동차주식회사 | Control system and method for distributing drive torque between front and rear wheels of four-wheel drive vehicle |
| KR102042946B1 (en) * | 2017-03-30 | 2019-11-08 | 바이두닷컴 타임즈 테크놀로지(베이징) 컴퍼니 리미티드 | Deceleration curb based direction detection and lane keeping system for autonomous vehicles |
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