CN113109783B - Course angle acquisition method, device, equipment and storage medium - Google Patents
Course angle acquisition method, device, equipment and storage medium Download PDFInfo
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- CN113109783B CN113109783B CN202110407239.0A CN202110407239A CN113109783B CN 113109783 B CN113109783 B CN 113109783B CN 202110407239 A CN202110407239 A CN 202110407239A CN 113109783 B CN113109783 B CN 113109783B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/62—Sense-of-movement determination
Abstract
The invention is suitable for the technical field of radar measurement and control, and provides a course angle acquisition method, a device, equipment and a storage medium, wherein the course angle acquisition method comprises the following steps: acquiring various reference course angles of a target vehicle; the multiple reference course angles comprise at least two of a course angle obtained according to a principal component analysis algorithm, a course angle obtained by primary track fitting, a course angle obtained by secondary track fitting and a course angle obtained according to a track filtering result; calculating the variance of the speed of each point in the point cloud corresponding to each reference course angle according to the Doppler and the azimuth of each point in the point cloud of the target vehicle; the reference heading angle corresponding to the smallest variance is determined as the heading angle of the target vehicle. The invention can improve the calculation accuracy of the course angle.
Description
Technical Field
The invention belongs to the technical field of radar measurement and control, and particularly relates to a course angle acquisition method, device, equipment and storage medium.
Background
The millimeter wave radar has the advantages of high measurement precision, rich detection point clouds, all-time, all-weather and the like, and is widely applied to the driving assistance environment perception of L3 and above. In the process of auxiliary driving, maneuvering behaviors of vehicles in a road such as lane changing, turning around, turning and the like directly influence path planning and decision of the vehicles, a course angle is an important factor for representing the maneuvering behaviors, and the maneuvering behaviors of the vehicles can be judged according to the magnitude and the variation trend of the course angle.
At present, the problem of low accuracy of the calculated course angle exists.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method, an apparatus, a device, and a storage medium for obtaining a course angle, which can improve accuracy of the course angle.
The first aspect of the embodiments of the present invention provides a course angle obtaining method, including:
acquiring various reference course angles of a target vehicle; the multiple reference course angles comprise at least two of a course angle obtained according to a principal component analysis algorithm, a course angle obtained by primary track fitting, a course angle obtained by secondary track fitting and a course angle obtained according to a track filtering result;
calculating the variance of the speed of each point in the point cloud corresponding to the multiple reference course angles according to the Doppler and the azimuth of each point in the point cloud of the target vehicle;
determining a reference heading angle corresponding to the smallest variance as the heading angle of the target vehicle.
Optionally, the multiple reference course angles include the course angle obtained according to the principal component analysis algorithm;
the obtaining of the multiple reference course angles of the target vehicle comprises:
under the condition that the number of points in the point cloud is larger than a first preset threshold value, acquiring a covariance matrix of the point cloud;
solving an eigenvalue and an eigenvector of the covariance matrix;
and acquiring the course angle obtained according to the principal component analysis algorithm according to the eigenvector corresponding to the maximum eigenvalue in the solved solution.
Optionally, the multiple reference course angles include a course angle obtained by the primary track fitting;
the obtaining of the multiple reference course angles of the target vehicle comprises:
under the condition that the number of the historical track frames of the target vehicle is larger than a second preset threshold value, performing primary fitting on each historical track frame to obtain a first transverse speed and a first longitudinal speed of the target vehicle;
and acquiring a course angle obtained by the primary track fitting according to the first transverse speed, the first longitudinal speed and the current speed of the target vehicle.
Optionally, the multiple reference course angles include a course angle obtained by fitting the secondary flight path;
the obtaining of the multiple reference course angles of the target vehicle comprises:
performing secondary fitting on each historical track frame to obtain a second transverse speed and a second longitudinal speed of the target vehicle under the condition that the number of the historical track frames of the target vehicle is greater than a third preset threshold value;
and acquiring a course angle obtained by the secondary track fitting according to the second transverse speed, the second longitudinal speed and the current speed of the target vehicle.
Optionally, the multiple reference course angles include the course angle obtained according to the track filtering result;
the obtaining of the multiple reference course angles of the target vehicle comprises:
filtering the historical track frame of the target vehicle to obtain a third transverse speed and a third longitudinal speed of the target vehicle;
and acquiring the course angle obtained according to the track filtering result according to the third transverse speed, the third longitudinal speed and the current speed of the target vehicle.
Optionally, the plurality of reference heading angles further includes at least one preset heading angle.
Optionally, the type of the preset course angle includes 0, pi/2, pi, 3 pi/2.
A second aspect of an embodiment of the present invention provides a course angle obtaining apparatus, including:
the acquisition module is used for acquiring various reference course angles of the target vehicle; the multiple reference course angles comprise at least two of a course angle obtained according to a principal component analysis algorithm, a course angle obtained by primary track fitting, a course angle obtained by secondary track fitting and a course angle obtained according to a track filtering result;
the calculation module is used for calculating the variance of the speed of each point in the point cloud corresponding to the multiple reference course angles according to the Doppler and the azimuth of each point in the point cloud of the target vehicle;
and the determining module is used for determining the reference course angle corresponding to the minimum variance as the course angle of the target vehicle.
Optionally, the multiple reference course angles include the course angle obtained according to the principal component analysis algorithm;
correspondingly, the obtaining module is further configured to:
under the condition that the number of points in the point cloud is larger than a first preset threshold value, acquiring a covariance matrix of the point cloud;
solving an eigenvalue and an eigenvector of the covariance matrix;
and acquiring the course angle obtained according to the principal component analysis algorithm according to the eigenvector corresponding to the maximum eigenvalue in the solved solution.
Optionally, the multiple reference course angles include a course angle obtained by the primary track fitting;
correspondingly, the obtaining module is further configured to:
under the condition that the number of the historical track frames of the target vehicle is larger than a second preset threshold value, performing primary fitting on each historical track frame to obtain a first transverse speed and a first longitudinal speed of the target vehicle;
and acquiring a course angle obtained by the primary track fitting according to the first transverse speed, the first longitudinal speed and the current speed of the target vehicle.
Optionally, the multiple reference course angles include a course angle obtained by fitting the secondary flight path;
the obtaining of the multiple reference course angles of the target vehicle comprises:
under the condition that the number of the historical track frames of the target vehicle is larger than a third preset threshold value, performing secondary fitting on each historical track frame to obtain a second transverse speed and a second longitudinal speed of the target vehicle;
and acquiring a course angle obtained by the secondary track fitting according to the second transverse speed, the second longitudinal speed and the current speed of the target vehicle.
Optionally, the multiple reference course angles include the course angle obtained according to the track filtering result;
correspondingly, the obtaining module is further configured to:
filtering the historical track frame of the target vehicle to obtain a third transverse speed and a third longitudinal speed of the target vehicle;
and acquiring the course angle obtained according to the track filtering result according to the third transverse speed, the third longitudinal speed and the current speed of the target vehicle.
Optionally, the plurality of reference heading angles further includes at least one preset heading angle.
Optionally, the type of the preset course angle includes 0, pi/2, pi, 3 pi/2.
A third aspect of embodiments of the present invention provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method according to the first aspect when executing the computer program.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, performs the steps of the method according to the first aspect.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
according to the embodiment of the invention, the variance of the speed of each point in the point cloud corresponding to various reference course angles can be calculated by utilizing the obtained various reference course angles of the target vehicle and combining the Doppler and the azimuth of each point in the point cloud of the target vehicle, and the reference course angle corresponding to the minimum variance can be determined as the course angle of the target vehicle. Because the variance of the speed of different points in the point cloud from the same target corresponding to the reference course angle with the minimum variance is minimum, and the reference course angle with the minimum variance is closest to the real course angle, the reference course angle which is closest to the real course angle in various reference course angles can be determined as the final course angle, so that the advantages of different course angle calculation methods in different scenes are utilized, the calculation accuracy of the course angle is greatly improved, and the problem of low course angle calculation accuracy caused by the limitation of a single course angle calculation method can be solved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a flowchart illustrating steps of a method for obtaining a heading angle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a point cloud according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a geometric relationship provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of a course angle obtaining device according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a terminal device according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
The embodiment of the invention provides a course angle acquisition method, a course angle acquisition device, course angle acquisition equipment and a storage medium. First, a method for obtaining a heading angle according to an embodiment of the present invention is described below.
Research shows that the velocities of different points in the point cloud from the same target are theoretically identical, and the velocities can be obtained by utilizing the Doppler, the azimuth angle and the heading angle of the point cloud. Thus, as the heading angle approaches the true heading angle, the velocities at different points in the point cloud from the same target approach. The proximity may be characterized by a variance, with smaller variances in velocities of different points in the point cloud from the same target indicating closer velocities of different points in the point cloud from the same target.
Based on the research, the variances of the speeds of different points in the point cloud from the same target can be obtained by using different reference course angles with reference values, and then the reference course angle with the smallest variance is selected from the reference course angles to be used as the final course angle. Because the variance of the speed of different points in the point cloud from the same target corresponding to the reference course angle with the minimum variance is minimum, and the reference course angle with the minimum variance is closest to the real course angle, the reference course angle which is closest to the real course angle in various reference course angles can be determined as the final course angle, and the calculation accuracy of the course angle can be improved.
It should be noted that the reference heading angle may be a heading angle calculated by using an existing heading angle calculation method, may also be a heading angle calculation method provided in the embodiment of the present invention, and may also be a heading angle selected based on experience, which is not specifically limited by the embodiment of the present invention.
It should be noted that the main executing body of the course angle obtaining method may be a course angle obtaining device, and the course angle obtaining device may be a terminal device having a processor and a memory, such as a microwave radar, a vehicle-mounted radar, a traffic radar, a security radar, and the like.
As shown in fig. 1, the method for obtaining a heading angle according to an embodiment of the present invention may include the following steps:
and step S110, acquiring various reference heading angles of the target vehicle.
The multiple reference course angles comprise at least two of the course angle obtained according to the principal component analysis algorithm, the course angle obtained by primary course fitting, the course angle obtained by secondary course fitting and the course angle obtained according to the course filtering result.
In some embodiments, for the course angle obtained according to the principal component analysis algorithm, the covariance matrix of the point cloud may be obtained when the number of points in the point cloud is greater than a first preset threshold, for example, greater than 15 points, and then the covariance matrix is subjected to solution of the eigenvalue and the eigenvector. Then, the course angle obtained according to the principal component analysis algorithm can be obtained according to the eigenvector corresponding to the maximum eigenvalue in the solved solution.
As shown in fig. 2, a point cloud of a target vehicle is provided, wherein xyo is a two-dimensional coordinate system, and a spherical point is a point in the point cloud, and accordingly, the position information (x) of each point in the point cloud can be obtained i ,y i ) I is 1, …, n is a positive integer, n is the total number of points contained in the point cloud. Thus, the covariance matrix of these points can be calculated:
wherein the content of the first and second substances,
the covariance matrix may then be subjected to eigenvalue summationSolving the eigenvector and finding the eigenvector corresponding to the maximum eigenvalue [ a b]So that the course angle theta obtained according to the principal component analysis algorithm can be solved according to the feature vector 1 Namely:
θ 1 ＝a tan2(a,b)。
in some embodiments, for the course angle obtained by one-time track fitting, in the case that the number of the historical track frames of the target vehicle is greater than a second preset threshold, for example, greater than 7 historical track frames, one-time fitting may be performed on each historical track frame to obtain the first lateral speed and the first longitudinal speed of the target vehicle. And then, acquiring a course angle obtained by primary track fitting according to the first transverse speed, the first longitudinal speed and the current speed of the target vehicle.
Specifically, assume that the first lateral velocity obtained by one track fitting is v x The first longitudinal speed is v y If the current speed of the target vehicle is V, the course angle theta is obtained by one-time track fitting 2 Comprises the following steps:
θ 2 ＝a tan2(v x ，v y +V)。
in some embodiments, for the secondarily fitted heading angle, in the case that the number of the historical track frames of the target vehicle is greater than a third preset threshold, for example, greater than 7 historical track frames, the secondary fitting may be performed on each historical track frame to obtain a second lateral speed and a second longitudinal speed of the target vehicle. And then, acquiring a course angle obtained by secondary track fitting according to the second transverse speed, the second longitudinal speed and the current speed of the target vehicle.
Specifically, assume that the second lateral velocity obtained by the quadratic track fitting is v x ＝f 0 +2f 1 t and a second longitudinal speed v y ＝ 0 +2 1 t, if the current speed of the target vehicle is V, the course angle theta is obtained by secondary track fitting 3 Comprises the following steps:
θ 3 ＝a tan2(v x ，v y +V)；
wherein f is 0 、f 1 、0、 1 Is twoParameters for secondary track fitting.
In some embodiments, for the heading angle obtained according to the track filtering result, the historical track frame of the target vehicle may be filtered to obtain a third lateral speed and a third longitudinal speed of the target vehicle. Then, the course angle theta obtained according to the track filtering result can be obtained according to the third transverse speed, the third longitudinal speed and the current speed of the target vehicle 4 。
Specifically, the processing of obtaining the course angle according to the lateral speed, the longitudinal speed and the current speed may refer to the formula θ adopted in the primary track fitting 2 ＝a tan2(v x ，v y + V) will not be described in detail here.
And step S120, calculating the variance of the speed of each point in the point cloud corresponding to the multiple reference course angles according to the Doppler and the azimuth of each point in the point cloud of the target vehicle.
In some embodiments, as shown in fig. 3, a geometric relationship between velocity v and doppler d, heading angle θ, and azimuth angle α at a point in a point cloud is shown, and the corresponding formula is as follows:
v ij ＝d i /cos(θ j -α i )(i＝1，…，n，j＝1，…，m)；
wherein m is a positive integer, m is the total number of the multiple reference course angles, v ij For the speed of the ith point at the heading angle of j, d i Doppler of the ith point, theta j Is the j reference course angle, alpha i Is the azimuth angle of the ith point.
Therefore, the variance of the speed of each point in the point cloud corresponding to various reference course angles can be calculated according to the formula.
Optionally, the multiple reference course angles may further include at least one preset course angle, wherein the types of the preset course angles may include 0, pi/2, pi, 3 pi/2, so that the course angles when the target vehicle moves transversely and longitudinally under a common condition are covered, and the reference value of the reference course angles is enlarged. Further, the type of the preset heading angle can also comprise pi/4, 3 pi/4 and the like.
Step S130, determining the reference course angle corresponding to the minimum variance as the course angle of the target vehicle.
In some embodiments, after calculating the variance of the speed of each point in the point cloud corresponding to each of the different reference heading angles, the reference heading angle corresponding to the smallest variance may be determined as the heading angle of the target vehicle.
After Real-time differential positioning (RTK) testing, the average error of the course angle obtained by the course angle obtaining method provided by the embodiment of the present invention is only 0.6497 °, and the test result is shown in table one.
Watch 1
In the embodiment of the invention, the variance of the speed of each point in the point cloud corresponding to each of the multiple reference course angles can be calculated by using the multiple reference course angles of the obtained target vehicle and combining the Doppler and the azimuth of each point in the point cloud of the target vehicle, and the reference course angle corresponding to the minimum variance can be determined as the course angle of the target vehicle. Because the variance of the speed of different points in the point cloud from the same target corresponding to the reference course angle with the minimum variance is minimum, and the reference course angle with the minimum variance is closest to the real course angle, the reference course angle which is closest to the real course angle in various reference course angles can be determined as the final course angle, so that the advantages of different course angle calculation methods in different scenes are utilized, the calculation accuracy of the course angle is greatly improved, and the problem of low course angle calculation accuracy caused by the limitation of a single course angle calculation method can be solved.
Based on the course angle obtaining method provided by the embodiment, correspondingly, the invention also provides a concrete implementation mode of the course angle obtaining device applied to the course angle obtaining method. Please see the examples below.
As shown in fig. 4, there is provided a heading angle acquiring apparatus 400 including:
an obtaining module 410, configured to obtain multiple reference heading angles of a target vehicle; the multiple reference course angles comprise at least two of a course angle obtained according to a principal component analysis algorithm, a course angle obtained by primary track fitting, a course angle obtained by secondary track fitting and a course angle obtained according to a track filtering result;
the calculation module 420 is configured to calculate a variance of speeds of each point in the point cloud corresponding to each of the multiple reference heading angles according to the doppler and the azimuth of each point in the point cloud of the target vehicle;
a determination module 430 for determining the reference heading angle corresponding to the smallest variance as the heading angle of the target vehicle.
Optionally, the plurality of reference course angles include a course angle obtained according to a principal component analysis algorithm;
correspondingly, the obtaining module is further configured to:
under the condition that the number of points in the point cloud is larger than a first preset threshold value, acquiring a covariance matrix of the point cloud;
solving an eigenvalue and an eigenvector of the covariance matrix;
and obtaining a course angle obtained according to a principal component analysis algorithm according to the eigenvector corresponding to the maximum eigenvalue in the solved solution.
Optionally, the multiple reference course angles include a course angle obtained by primary track fitting;
correspondingly, the obtaining module is further configured to:
under the condition that the number of the historical track frames of the target vehicle is larger than a second preset threshold value, performing primary fitting on each historical track frame to obtain a first transverse speed and a first longitudinal speed of the target vehicle;
and acquiring a course angle obtained by primary track fitting according to the first transverse speed, the first longitudinal speed and the current speed of the target vehicle.
Optionally, the multiple reference course angles include a course angle obtained by secondary track fitting;
obtaining a plurality of reference course angles of a target vehicle, including:
performing secondary fitting on each historical track frame to obtain a second transverse speed and a second longitudinal speed of the target vehicle under the condition that the number of the historical track frames of the target vehicle is greater than a third preset threshold value;
and acquiring a course angle obtained by secondary track fitting according to the second transverse speed, the second longitudinal speed and the current speed of the target vehicle.
Optionally, the plurality of reference course angles include a course angle obtained according to a track filtering result;
correspondingly, the obtaining module is further configured to:
filtering the historical track frame of the target vehicle to obtain a third transverse speed and a third longitudinal speed of the target vehicle;
and acquiring a course angle obtained according to the track filtering result according to the third transverse speed, the third longitudinal speed and the current speed of the target vehicle.
Optionally, the plurality of reference heading angles further includes at least one preset heading angle.
Optionally, the type of the preset heading angle includes 0, pi/2, pi, 3 pi/2.
In the embodiment of the invention, the variance of the speed of each point in the point cloud corresponding to each of the multiple reference course angles can be calculated by using the multiple reference course angles of the obtained target vehicle and combining the Doppler and the azimuth of each point in the point cloud of the target vehicle, and the reference course angle corresponding to the minimum variance can be determined as the course angle of the target vehicle. Because the variance of the speed of different points in the point cloud from the same target corresponding to the reference course angle with the minimum variance is minimum, and the reference course angle with the minimum variance is closest to the real course angle, the reference course angle which is closest to the real course angle in various reference course angles can be determined as the final course angle, so that the advantages of different course angle calculation methods in different scenes are utilized, the calculation accuracy of the course angle is greatly improved, and the problem of low course angle calculation accuracy caused by the limitation of a single course angle calculation method can be solved.
Fig. 5 is a schematic diagram of a terminal device according to an embodiment of the present invention. As shown in fig. 5, the terminal device 5 of this embodiment includes: a processor 50, a memory 51 and a computer program 52 stored in said memory 51 and executable on said processor 50. The processor 50, when executing the computer program 52, implements the steps in the above-described embodiments of the respective heading angle acquisition methods. Alternatively, the processor 50 implements the functions of the modules/units in the above-described device embodiments when executing the computer program 52.
Illustratively, the computer program 52 may be partitioned into one or more modules/units that are stored in the memory 51 and executed by the processor 50 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 52 in the terminal device 5. For example, the computer program 52 may be divided into an acquisition module, a calculation module, and a determination module, and the specific functions of each module are as follows:
the acquisition module is used for acquiring various reference course angles of the target vehicle; the multiple reference course angles comprise at least two of a course angle obtained according to a principal component analysis algorithm, a course angle obtained by primary track fitting, a course angle obtained by secondary track fitting and a course angle obtained according to a track filtering result;
the calculation module is used for calculating the variance of the speed of each point in the point cloud corresponding to the multiple reference course angles according to the Doppler and the azimuth of each point in the point cloud of the target vehicle;
and the determining module is used for determining the reference course angle corresponding to the minimum variance as the course angle of the target vehicle.
The terminal device 5 may be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The terminal device may include, but is not limited to, a processor 50, a memory 51. Those skilled in the art will appreciate that fig. 5 is merely an example of a terminal device 5, and does not constitute a limitation of the terminal device 5, and may include more or fewer components than those shown, or some of the components may be combined, or different components, e.g., the terminal device may also include an input-output device, a network access device, a bus, etc.
The Processor 50 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 51 may be an internal storage unit of the terminal device 5, such as a hard disk or a memory of the terminal device 5. The memory 51 may also be an external storage device of the terminal device 5, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 5. Further, the memory 51 may also include both an internal storage unit and an external storage device of the terminal device 5. The memory 51 is used for storing the computer programs and other programs and data required by the terminal device. The memory 51 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only used for distinguishing one functional unit from another, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated module/unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A course angle acquisition method is characterized by comprising the following steps:
acquiring various reference course angles of a target vehicle; the multiple reference course angles comprise at least two of a course angle obtained according to a principal component analysis algorithm, a course angle obtained by primary track fitting, a course angle obtained by secondary track fitting and a course angle obtained according to a track filtering result;
calculating the variance of the speed of each point in the point cloud corresponding to the multiple reference course angles according to the Doppler and the azimuth of each point in the point cloud of the target vehicle;
determining a reference course angle corresponding to the smallest variance as a course angle of the target vehicle;
the formula for calculating the variance of the speeds of the points in the point cloud corresponding to the multiple reference heading angles according to the Doppler and the azimuth of each point in the point cloud of the target vehicle is as follows:
v ij ＝d i /cos(θ j -α i )(i＝1,…,n,j＝1,…,m)
wherein m is a positive integer, m is the total number of the plurality of reference course angles, v ij For the speed of the ith point at the jth heading angle, d i Doppler of point iSpeed, theta j Is the j reference course angle, alpha i Is the azimuth of the ith point.
2. The method of claim 1, wherein the plurality of reference course angles comprises the course angle obtained according to a principal component analysis algorithm;
the obtaining of the multiple reference course angles of the target vehicle comprises:
under the condition that the number of points in the point cloud is larger than a first preset threshold value, acquiring a covariance matrix of the point cloud;
solving an eigenvalue and an eigenvector of the covariance matrix;
and acquiring the course angle obtained according to the principal component analysis algorithm according to the eigenvector corresponding to the maximum eigenvalue in the solved solution.
3. The method of claim 1, wherein the plurality of reference course angles comprise course angles obtained by the primary track fitting;
the obtaining of the multiple reference course angles of the target vehicle comprises:
under the condition that the number of the historical track frames of the target vehicle is larger than a second preset threshold value, performing primary fitting on each historical track frame to obtain a first transverse speed and a first longitudinal speed of the target vehicle;
and acquiring a course angle obtained by the primary track fitting according to the first transverse speed, the first longitudinal speed and the current speed of the target vehicle.
4. The method of claim 1, wherein the plurality of reference course angles comprise course angles obtained by the quadratic track fitting;
the obtaining of the multiple reference course angles of the target vehicle comprises:
under the condition that the number of the historical track frames of the target vehicle is larger than a third preset threshold value, performing secondary fitting on each historical track frame to obtain a second transverse speed and a second longitudinal speed of the target vehicle;
and acquiring a course angle obtained by the secondary track fitting according to the second transverse speed, the second longitudinal speed and the current speed of the target vehicle.
5. The method of claim 1, wherein the plurality of reference course angles comprise the course angle obtained from the track filtering result;
the obtaining of the multiple reference course angles of the target vehicle comprises:
filtering the historical track frame of the target vehicle to obtain a third transverse speed and a third longitudinal speed of the target vehicle;
and acquiring the course angle obtained according to the track filtering result according to the third transverse speed, the third longitudinal speed and the current speed of the target vehicle.
6. The method as claimed in any one of claims 1 to 5, wherein the plurality of reference course angles further comprises at least one preset course angle.
7. The method for obtaining the heading angle of claim 6, wherein the category of the preset heading angle includes 0, pi/2, pi, 3 pi/2.
8. A course angle acquisition device, comprising:
the acquisition module is used for acquiring various reference course angles of the target vehicle; the multiple reference course angles comprise at least two of a course angle obtained according to a principal component analysis algorithm, a course angle obtained by primary track fitting, a course angle obtained by secondary track fitting and a course angle obtained according to a track filtering result;
the calculation module is used for calculating the variance of the speed of each point in the point cloud corresponding to the multiple reference heading angles according to the Doppler and the azimuth of each point in the point cloud of the target vehicle;
the determining module is used for determining the reference course angle corresponding to the minimum variance as the course angle of the target vehicle;
wherein the computing module is further to:
v ij ＝d i /cos(θ j -α i )(i＝1,…,n,j＝1,…,m)
wherein m is a positive integer, m is the total number of the plurality of reference course angles, v ij For the speed of the ith point at the jth heading angle, d i Doppler velocity, θ, at point i j Is the j reference course angle, alpha i Is the azimuth of the ith point.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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| CN113867370B (en) * | 2021-12-02 | 2022-04-12 | 智道网联科技(北京)有限公司 | Obstacle course angle calculation method and device based on time synchronization |
| CN114397671B (en) * | 2022-03-24 | 2022-08-16 | 智道网联科技(北京)有限公司 | Course angle smoothing method and device of target and computer readable storage medium |
| CN114684198A (en) * | 2022-04-02 | 2022-07-01 | 合众新能源汽车有限公司 | Course angle determining method and device, controller and vehicle |
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