CN113200039B - Road generation method and device based on parking, vehicle and readable medium - Google Patents
Road generation method and device based on parking, vehicle and readable medium Download PDFInfo
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- 238000004891 communication Methods 0.000 claims description 17
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Classifications
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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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
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/06—Direction of travel
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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
- B60W2552/00—Input parameters relating to infrastructure
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Abstract
The embodiment of the invention provides a road generation method, a device, a vehicle and a readable medium based on parking, wherein in the road learning process of memorizing parking, the vehicle can acquire coordinate information in the moving process, the coordinate information comprises historical coordinate information of historical coordinate points and current coordinate information of current coordinate points corresponding to the historical coordinate points, then the running direction of the vehicle is determined based on the coordinate information, a running area corresponding to the running direction is determined according to the historical coordinate information and the current coordinate information, then road information corresponding to the moving process of the vehicle can be generated according to a plurality of running areas, a section of running area corresponding to the running direction is determined through two coordinate points, and one running area is determined based on the two coordinate points, so that the calculation amount of each coordinate calculation is effectively reduced, the operation cost of a system is reduced, the occupation of drawing performance can be reduced in the road drawing process, the cost of the system is further reduced, and the road drawing efficiency is improved.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a road generating method based on parking, a road generating device based on parking, a vehicle, and a computer readable medium.
Background
With the development of vehicle technology, people will gradually be released from tedious driving operation, and in the present stage, an ADAS (advanced driving assistance system) is rapidly spreading, and will partially replace human driving, so that the safety and comfort are particularly important. In a driving-required scene of a vehicle, for example, a memory parking scene, an ACC scene (adaptive cruise control system), a remote driving scene, etc., road information of the vehicle is often required to be recorded, so as to know a driving state of the vehicle, and then make a corresponding control decision for the vehicle. In particular, in a memory parking scene, when the vehicle is used for the first time, a user is required to manually drive the vehicle to travel a parking route, the whole process of memorizing the route is completed after parking, and then when the vehicle is used for the second time, the vehicle can assist the user to drive the vehicle from the starting point of the set route to the end point of the set route according to the memorizing the route, and the vehicle is parked into a parking space memorized by the system, so that the automatic parking of the vehicle is realized. However, in the learning process of the memory parking, the road of the parking lot needs to be drawn according to the running of the vehicle, and in the drawing process, the problems of large calculation amount and high system overhead exist, so that the efficiency of drawing the road is seriously reduced.
Disclosure of Invention
The embodiment of the invention provides a road generation method, a device, a vehicle and a computer readable storage medium based on parking, which are used for solving or partially solving the problems of large calculation amount, high system overhead and the like in road drawing in the process of learning a memory parking road.
The embodiment of the invention discloses a road generation method based on parking, which comprises the following steps:
acquiring coordinate information in the moving process of a vehicle, wherein the coordinate information comprises historical coordinate information of a historical coordinate point and current coordinate information of a current coordinate point corresponding to the historical coordinate point;
determining a traveling direction of the vehicle;
determining a driving area corresponding to the driving direction according to the historical coordinate information and the current coordinate information;
and generating road information corresponding to the vehicle moving process according to the plurality of driving areas.
Optionally, the determining the driving direction of the vehicle includes:
acquiring a first vector corresponding to the historical coordinate information and a second vector corresponding to the current coordinate information;
and determining the running direction of the vehicle by adopting the first vector and the second vector.
Optionally, the determining, according to the historical coordinate information and the current coordinate information, a driving area corresponding to the driving direction includes:
obtaining target vectors aiming at the historical coordinate points and the current coordinate points, wherein the target vectors are vectors with directions perpendicular to the running direction;
calculating a first coordinate point for the historical coordinate point by adopting the target vector and the historical coordinate information;
calculating a second coordinate point aiming at the current coordinate point by adopting the target vector and the current coordinate information;
and determining a driving area corresponding to the driving direction according to the first coordinate point and the second coordinate point.
Optionally, the calculating a first coordinate point for the historical coordinate point using the target vector and the historical coordinate information includes:
acquiring the road width;
and calculating a first coordinate point in the direction corresponding to the target vector by taking the historical coordinate point as an origin and adopting the road width and the historical coordinate information.
Optionally, the calculating, using the target vector and the current coordinate information, a second coordinate point for the current coordinate point includes:
acquiring the road width;
and calculating a second coordinate point in the direction corresponding to the target vector by taking the current coordinate point as an origin and adopting the road width and the current coordinate information.
Optionally, the determining the driving area corresponding to the driving direction according to the first coordinate point and the second coordinate point includes:
acquiring first coordinate information of the first coordinate point and second coordinate information of the second coordinate point;
and calculating a driving area corresponding to the driving direction by adopting the first coordinate information and the second coordinate information.
Optionally, the acquiring the coordinate information in the moving process of the vehicle includes:
and acquiring coordinate information in the moving process of the vehicle according to a preset time interval.
Optionally, the acquiring the coordinate information in the moving process of the vehicle includes:
and acquiring coordinate information in the moving process of the vehicle according to the preset driving distance.
Optionally, the generating, according to the plurality of driving areas, road information corresponding to the vehicle moving process includes:
and acquiring a plurality of running areas in a visual range in a preset display device, and displaying road information corresponding to the running areas in the display device.
The embodiment of the invention also discloses a road generating device based on parking, which comprises:
the system comprises a coordinate information acquisition module, a coordinate information processing module and a coordinate information processing module, wherein the coordinate information acquisition module is used for acquiring coordinate information in the moving process of a vehicle, and the coordinate information comprises historical coordinate information of historical coordinate points and current coordinate information of current coordinate points corresponding to the historical coordinate points;
a travel direction determining module configured to determine a travel direction of the vehicle;
the driving area determining module is used for determining a driving area corresponding to the driving direction according to the historical coordinate information and the current coordinate information;
and the road information generation module is used for generating road information corresponding to the vehicle moving process according to a plurality of running areas.
Optionally, the driving direction determining module includes:
the vector acquisition sub-module is used for acquiring a first vector corresponding to the historical coordinate information and a second vector corresponding to the current coordinate information;
and the driving direction determining module is used for determining the driving direction of the vehicle by adopting the first vector and the second vector.
Optionally, the driving area determining module includes:
a target vector obtaining sub-module, configured to obtain a target vector for the historical coordinate point and the current coordinate point, where the target vector is a vector whose direction is perpendicular to the driving direction;
a first coordinate point calculation sub-module for calculating a first coordinate point for the historical coordinate point using the target vector and the historical coordinate information;
a second coordinate point calculating sub-module for calculating a second coordinate point for the current coordinate point using the target vector and the current coordinate information;
and the driving area determining submodule is used for determining the driving area corresponding to the driving direction according to the first coordinate point and the second coordinate point.
Optionally, the first coordinate point calculating submodule is specifically configured to:
acquiring the road width;
and calculating a first coordinate point in the direction corresponding to the target vector by taking the historical coordinate point as an origin and adopting the road width and the historical coordinate information.
Optionally, the second coordinate point computing sub-module is specifically configured to:
acquiring the road width;
and calculating a second coordinate point in the direction corresponding to the target vector by taking the current coordinate point as an origin and adopting the road width and the current coordinate information.
Optionally, the driving area determining submodule is specifically configured to:
acquiring first coordinate information of the first coordinate point and second coordinate information of the second coordinate point;
and calculating a driving area corresponding to the driving direction by adopting the first coordinate information and the second coordinate information.
Optionally, the coordinate information acquisition module is specifically configured to:
and acquiring coordinate information in the moving process of the vehicle according to a preset time interval.
Optionally, the coordinate information acquisition module is specifically configured to:
and acquiring coordinate information in the moving process of the vehicle according to the preset driving distance.
Optionally, the road information generating module is specifically configured to:
and acquiring a plurality of running areas in a visual range in a preset display device, and displaying road information corresponding to the running areas in the display device.
The embodiment of the invention also discloses a vehicle, which comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
the memory is used for storing a computer program;
the processor is configured to implement the method described above when executing the program stored on the memory.
Embodiments of the invention also disclose one or more computer-readable media having instructions stored thereon, which when executed by one or more processors, cause the processors to perform the method as described above.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, in the road learning process of memorizing and parking, the vehicle can acquire the coordinate information in the moving process, wherein the coordinate information can comprise the historical coordinate information of the historical coordinate points and the current coordinate information of the current coordinate points corresponding to the historical coordinate points, then the driving direction of the vehicle is determined based on the coordinate information, the driving area corresponding to the driving direction is determined according to the historical coordinate information and the current coordinate information, then the road information corresponding to the moving process of the vehicle can be generated according to a plurality of driving areas, a section of driving area corresponding to the driving direction is determined through two coordinate points, and a driving area is determined based on two coordinate points, so that the calculation amount of each coordinate calculation is effectively reduced, the operation cost of a system is reduced, and meanwhile, in the process of combining a plurality of driving areas into the road information, the driving area is cached one section by one section, so that the occupation of the drawing performance can be reduced in the process of road drawing, the overhead of the system is further reduced, and the road drawing efficiency is improved.
Drawings
FIG. 1 is a flow chart of steps of a method for generating a parking-based road according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of coordinate points provided in an embodiment of the present invention;
FIG. 3 is a schematic diagram of coordinate points provided in an embodiment of the present invention;
fig. 4 is a schematic view of a travel area provided in an embodiment of the present invention;
FIG. 5 is a schematic diagram of road information provided in an embodiment of the present invention;
fig. 6 is a block diagram of a road generating device based on parking according to an embodiment of the present invention;
FIG. 7 is a block diagram of an electronic device provided in an embodiment of the invention;
fig. 8 is a schematic diagram of a computer readable medium provided in an embodiment of the invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As an example, with the rapid development of the vehicle autopilot technology, autopilot, memory parking, etc. have been developed to some extent in the application field of vehicles. For memory parking, the automatic parking of the vehicle can be realized without depending on the transformation of a parking lot. Specifically, through simple study, save process, can realize parking by fixed route automatic parking in parking area, can rely on relevant data processing to accomplish functions such as automatic speed governing, turn, obstacle avoidance and meeting simultaneously in the running process, satisfy the parking demand of user's various scenes.
For memory parking of vehicles, when the vehicle is used for the first time, a user is required to manually drive the vehicle to travel a parking route, the whole process of memorizing the route is completed after parking, then when the vehicle is used for the second time, the vehicle can assist the user to drive the vehicle from the starting point of the set route to the end point of the set route according to the memorizing the route, and the vehicle is parked into a parking space memorized by the system, so that automatic parking of the vehicle is realized, and the vehicle can complete automatic parking according to actual scenes through learning different parking spaces, so that the driving experience of the user is effectively improved.
In the process of memorizing and parking, the learning of the 'recorded route' is needed first, and the learning process involves the learning of the 3D parking road, namely, the vehicle needs to draw the driving road corresponding to the parking lot. In the process of drawing a parking lot road, a series of coordinate points are usually collected in the process of driving a vehicle, and then each calculation is based on all coordinate points to calculate a driving route, and corresponding road information is determined. However, in this process, since the calculation of the full-scale coordinate points is involved each time, as the vehicle continuously advances, the calculated coordinate points of each frame are more and more, and the calculation amount of the system is continuously increased, so that the occupation of the CPU is higher and higher, and thus the efficiency of road information learning is easily reduced, and the parking experience of the user is affected.
In this regard, one of the key points of the embodiments of the present invention is that, during the road learning process of memory parking, as the vehicle travels, the vehicle may acquire current coordinate information of a current coordinate point and historical coordinate information of a previous coordinate point corresponding to the current coordinate point, then determine a traveling area corresponding to the traveling direction based on the coordinate information, and determine traveling areas corresponding to the traveling direction according to the historical coordinate information and the current coordinate information, then generate road information corresponding to the traveling areas during the movement of the vehicle, determine a traveling area corresponding to the traveling direction by two coordinate points, and determine a traveling area based on two coordinate points, thereby effectively reducing the calculation amount of each coordinate calculation, reducing the operation cost of the system, and simultaneously, during the process of combining the plurality of traveling areas into the road information, since the traveling area is cached one segment by one segment, the occupation of the drawing performance can be reduced during the road drawing process, further reducing the cost of the system, and improving the road drawing efficiency.
Specifically, referring to fig. 1, a flowchart illustrating steps of a road generating method based on parking according to an embodiment of the present invention may specifically include the following steps:
step 101, acquiring coordinate information in a vehicle moving process, wherein the coordinate information comprises historical coordinate information of a historical coordinate point and current coordinate information of a current coordinate point corresponding to the historical coordinate point;
in the embodiment of the invention, before the memory parking function of the vehicle is used by a user, particularly when the memory parking function is used for the first time, the user needs to manually drive the vehicle to learn the memory route of the corresponding parking lot, and then in the process that the user drives the vehicle to run in the parking lot, the vehicle can acquire coordinate information in the moving process of the vehicle through the corresponding sensor, for example, after the memory parking function of the vehicle is started by the user, the vehicle records a corresponding initial coordinate point, and along with the movement of the vehicle, the corresponding coordinate point is continuously acquired, so that the running route of the vehicle is generated according to the coordinate point, or the corresponding road information of the parking lot is generated, and the learning of the memory route in the memory parking process is completed.
Alternatively, for the acquisition of the coordinate information, the vehicle may acquire the coordinate information during the running of the vehicle at a preset time interval, or may acquire the coordinate information during the moving of the vehicle at a preset running distance, for example, the vehicle may acquire the coordinate information once every 1 second, 2 seconds, 3 seconds, or the like, or may acquire the coordinate information once every N meters of running of the vehicle, which is not limited in the present invention.
In a specific implementation, in each process of acquiring coordinate information, the vehicle can only acquire the current coordinate point of the vehicle and the last coordinate point (historical coordinate point) corresponding to the current coordinate point, and then acquire the coordinate information (longitude and latitude information, coordinate information in a plane coordinate system established for a parking lot and the like) corresponding to the two coordinate points respectively, so that the calculation amount of subsequent coordinate calculation can be effectively reduced and the system calculation cost of the vehicle can be reduced by acquiring the coordinate information of the two coordinate points.
In one example, a user may drive a vehicle to move in a parking lot before first using a memory parking function to cause the vehicle to learn a "memory route" for the parking lot. In particular, with a vehicleThe vehicle can acquire the current coordinate point S n And with the current coordinate point S n Corresponding last coordinate point S n-1 Then obtain the current coordinate point S n Corresponding coordinate information (X n ，Y n ) Coordinate point S n-1 Corresponding coordinate information (X n-1 ，Y n-1 ) The method comprises the steps of carrying out a first treatment on the surface of the When the coordinate information is acquired next time, the current coordinate point can be S n+1 And coordinate point S n And forming the previous coordinate point, then acquiring corresponding coordinate information, and continuously acquiring the coordinate information in the running process of the vehicle based on the coordinate information to finish the learning of the memory route of the vehicle to the parking lot, in particular to the learning of the 3D parking road.
Step 102, determining the running direction of the vehicle;
in a specific implementation, a first vector corresponding to a historical coordinate point may be determined according to historical coordinate information, a second vector corresponding to a current coordinate point may be determined according to current coordinate information, and then a driving direction of the vehicle may be determined by using the first vector and the second vector.
In one example, a vehicle may acquire a plan view of a parking lot, establish a corresponding coordinate system for the plan view, acquire corresponding coordinate points and coordinate information of the coordinate points as the vehicle moves in the parking lot, determine vectors corresponding to the coordinate points based on the coordinate information and an origin point, and determine a traveling direction of the vehicle through a vector relationship between adjacent current coordinate points and historical coordinate points. Specifically, referring to fig. 2, a schematic diagram of a coordinate point provided in an embodiment of the present invention is shown, where P1 is a historical coordinate point, P2 is a current coordinate point,a first vector (dotted line corresponding to P1) corresponding to the history coordinate point,/and>for the second vector corresponding to the current coordinate point (dashed line corresponding to P1), then by adding +.>Reduce->The traveling direction of the vehicle (solid line directed from P1 to P2) can be obtained, so that the traveling direction of the vehicle can be determined by acquiring two adjacent coordinate points during the traveling of the vehicle.
Step 103, determining a driving area corresponding to the driving direction according to the historical coordinate information and the current coordinate information;
in the embodiment of the invention, after the coordinate information of the current coordinate point and the historical coordinate point is obtained, the running area corresponding to the running direction can be determined according to the current coordinate point and the historical coordinate point, so that a section of running area corresponding to the running direction is determined through the two coordinate points, and a running area is determined based on the two coordinate points, thereby effectively reducing the calculation amount of each coordinate calculation and reducing the calculation cost of a system.
In a specific implementation, the vehicle may acquire a target vector for a history coordinate point and a current coordinate point, where the target vector is a vector whose direction is perpendicular to a traveling direction, then calculate a first coordinate point for the history coordinate point using the target vector and the history coordinate information, calculate a second coordinate point for the current coordinate point using the target vector and the current coordinate information, and then determine a traveling area corresponding to the traveling direction according to the first coordinate point and the second coordinate point.
Specifically, if the road has a certain width, in order to determine the width corresponding to the road, the target vector corresponding to the driving direction of the vehicle may be acquired after the driving direction of the vehicle is determined. The target vector may be a unit vector with a direction perpendicular to the driving direction, so that the historical coordinate point or the current coordinate point may be used as an origin to extend in a direction perpendicular to the driving direction to obtain a corresponding target coordinate point.
In one example, after determining the target vector perpendicular to the driving direction, the road width may be obtained, which may be a road width preset during memory parking, which may be according to realityThe width of the travel road of the inter-parking lot is set. The vehicle may calculate a first coordinate point in a direction corresponding to the target vector using the road width and the historical coordinate information with the historical coordinate point as an origin, and calculate a second coordinate point in the direction corresponding to the target vector using the road width and the current coordinate information with the current coordinate point as an origin. Referring to FIG. 3, a schematic diagram of coordinate points provided in an embodiment of the present invention is shown for a target vector P s In other words, a first direction pointed by the road and a second direction opposite to the first direction can be taken, so that a first coordinate point V corresponding to the historical coordinate point can be determined by taking the historical coordinate point or the current coordinate point as an origin and combining the road width and the direction 1 And V 2 A second coordinate point V corresponding to the current coordinate point 3 And V 4 . The coordinate point V can then be obtained 1 、V 2 、V 3 And V 4 Then calculates a travel area corresponding to the travel direction based on the respective coordinate information. For example, referring to fig. 4, a schematic diagram of a driving area provided in an embodiment of the present invention is shown, in OpenGl, a road model may be composed of a dotted line and a triangle, and in (1), a triangle model may be determined by three different coordinate points (for example, may be V 1 、V 2 、V 4 Forms a triangle, can also be V 1 、V 3 、V 4 Forms a triangle, can also be V 2 、V 3 、V 4 Forms a triangle, can also be V 1 、V 2 、V 3 Constituting a triangle, etc.), the travel area corresponding to the history coordinate point and the current coordinate point is determined by two triangular models in (2). In addition, after the running area corresponding to the historical coordinate point and the current coordinate point is obtained, the running area can be cached, as the vehicle continues to run, a new running area can be generated and cached according to new coordinate information, and the same coordinate operation is repeated until the road learning of the 3D parking is finished, so that a section of running area corresponding to the running direction is determined through the two coordinate points, one running area is determined based on the two coordinate points, and the number of the running areas is effectively reducedThe calculation amount of each coordinate calculation is reduced, and the operation cost of the system is reduced.
And 104, generating road information corresponding to the vehicle moving process according to the plurality of driving areas.
In a specific implementation, after the running area corresponding to the current running direction is determined by calculating the coordinate information of the current coordinate point and the last historical coordinate point, the running area calculated each time can be cached, so that in the process of drawing a road, all the mixed running areas can be called to draw to form a complete road, only the latest coordinate point can be calculated each time in the process of drawing the road, the calculation of a series of coordinate points is reduced, the occupation of drawing performance is reduced, the overhead of a system is further reduced, the efficiency of drawing the road is improved, and the 3D road learning in the process of memorizing and parking is completed.
In addition, since the driving areas are cached segment by segment, in the process of displaying the road information, a plurality of driving areas in the visual range of the display device can be acquired first, then the driving areas are combined to generate a complete road, and the road is displayed in the display device. For example, referring to fig. 5, a schematic diagram of road information provided in an embodiment of the present invention is shown, where a driving area is cached in a segment, N driving areas may be combined to generate a corresponding road, specifically, a road section only displayed in a screen may be selected when the driving area is displayed, specifically, each cached driving area may record its start point and end point coordinates, and each time the driving area is mapped, the start point and the end point are compared with real-time coordinates of a vehicle, if the driving area is located in a range of the screen, the driving area is displayed, if the driving area is located outside the range of the screen, so that in a process of calculating each coordinate, a section of driving area corresponding to a driving direction is determined through two coordinate points, and a driving area is determined based on two coordinate points, thereby effectively reducing a calculation amount of each coordinate calculation, reducing an operation cost of a system, and simultaneously in a process of synthesizing road information by using a plurality of driving areas in a section of cached, so as to reduce occupation of a road mapping performance in a process of road mapping, and further reduce an overhead of the system.
It should be noted that the embodiments of the present invention include, but are not limited to, the foregoing examples, and it is to be understood that, under the guidance of the concept of the embodiments of the present invention, those skilled in the art may further set the embodiments according to actual requirements, which is not limited to the foregoing examples.
In the embodiment of the invention, in the road learning process of memorizing and parking, the vehicle can acquire the coordinate information in the moving process, wherein the coordinate information can comprise the historical coordinate information of the historical coordinate points and the current coordinate information of the current coordinate points corresponding to the historical coordinate points, then the driving direction of the vehicle is determined based on the coordinate information, the driving area corresponding to the driving direction is determined according to the historical coordinate information and the current coordinate information, then the road information corresponding to the moving process of the vehicle can be generated according to a plurality of driving areas, a section of driving area corresponding to the driving direction is determined through two coordinate points, and a driving area is determined based on two coordinate points, so that the calculation amount of each coordinate calculation is effectively reduced, the operation cost of a system is reduced, and meanwhile, in the process of combining a plurality of driving areas into the road information, the driving area is cached one section by one section, so that the occupation of the drawing performance can be reduced in the process of road drawing, the overhead of the system is further reduced, and the road drawing efficiency is improved.
It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art 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 embodiments, and that the acts are not necessarily required by the embodiments of the invention.
Referring to fig. 6, a block diagram of a road generating device based on parking according to an embodiment of the present invention is shown, which may specifically include the following modules:
a coordinate information obtaining module 601, configured to obtain coordinate information during a moving process of a vehicle, where the coordinate information includes historical coordinate information of a historical coordinate point and current coordinate information of a current coordinate point corresponding to the historical coordinate point;
a driving direction determining module 602, configured to determine a driving direction of the vehicle;
a driving area determining module 603, configured to determine a driving area corresponding to the driving direction according to the historical coordinate information and the current coordinate information;
the road information generating module 604 is configured to generate road information corresponding to the vehicle moving process according to a plurality of driving areas.
In an alternative embodiment of the present invention, the driving direction determining module 602 includes:
the vector acquisition sub-module is used for acquiring a first vector corresponding to the historical coordinate information and a second vector corresponding to the current coordinate information;
the driving direction determining module 602 is configured to determine a driving direction of the vehicle using the first vector and the second vector.
In an alternative embodiment of the present invention, the driving area determining module 603 includes:
a target vector obtaining sub-module, configured to obtain a target vector for the historical coordinate point and the current coordinate point, where the target vector is a vector whose direction is perpendicular to the driving direction;
a first coordinate point calculation sub-module for calculating a first coordinate point for the historical coordinate point using the target vector and the historical coordinate information;
a second coordinate point calculating sub-module for calculating a second coordinate point for the current coordinate point using the target vector and the current coordinate information;
and the driving area determining submodule is used for determining the driving area corresponding to the driving direction according to the first coordinate point and the second coordinate point.
In an optional embodiment of the present invention, the first coordinate point calculating submodule is specifically configured to:
acquiring the road width;
and calculating a first coordinate point in the direction corresponding to the target vector by taking the historical coordinate point as an origin and adopting the road width and the historical coordinate information.
In an optional embodiment of the present invention, the second coordinate point calculation sub-module is specifically configured to:
acquiring the road width;
and calculating a second coordinate point in the direction corresponding to the target vector by taking the current coordinate point as an origin and adopting the road width and the current coordinate information.
In an alternative embodiment of the invention, the driving area determining submodule is specifically configured to:
acquiring first coordinate information of the first coordinate point and second coordinate information of the second coordinate point;
and calculating a driving area corresponding to the driving direction by adopting the first coordinate information and the second coordinate information.
In an alternative embodiment of the present invention, the coordinate information obtaining module 601 is specifically configured to:
and acquiring coordinate information in the moving process of the vehicle according to a preset time interval.
In an alternative embodiment of the present invention, the coordinate information obtaining module 601 is specifically configured to:
and acquiring coordinate information in the moving process of the vehicle according to the preset driving distance.
In an alternative embodiment of the present invention, the road information generating module 604 is specifically configured to:
and acquiring a plurality of running areas in a visual range in a preset display device, and displaying road information corresponding to the running areas in the display device.
For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.
In addition, the embodiment of the invention also provides a vehicle, as shown in fig. 7, which comprises a processor 701, a communication interface 702, a memory 703 and a communication bus 704, wherein the processor 701, the communication interface 702 and the memory 703 complete communication with each other through the communication bus 704,
a memory 703 for storing a computer program;
the processor 701 is configured to execute the program stored in the memory 703, and implement the following steps:
acquiring coordinate information in the moving process of a vehicle, wherein the coordinate information comprises historical coordinate information of a historical coordinate point and current coordinate information of a current coordinate point corresponding to the historical coordinate point;
determining a traveling direction of the vehicle;
determining a driving area corresponding to the driving direction according to the historical coordinate information and the current coordinate information;
and generating road information corresponding to the vehicle moving process according to the plurality of driving areas.
In an alternative embodiment of the present invention, the determining the traveling direction of the vehicle includes:
acquiring a first vector corresponding to the historical coordinate information and a second vector corresponding to the current coordinate information;
and determining the running direction of the vehicle by adopting the first vector and the second vector.
In an optional embodiment of the present invention, the determining a driving area corresponding to the driving direction according to the historical coordinate information and the current coordinate information includes:
obtaining target vectors aiming at the historical coordinate points and the current coordinate points, wherein the target vectors are vectors with directions perpendicular to the running direction;
calculating a first coordinate point for the historical coordinate point by adopting the target vector and the historical coordinate information;
calculating a second coordinate point aiming at the current coordinate point by adopting the target vector and the current coordinate information;
and determining a driving area corresponding to the driving direction according to the first coordinate point and the second coordinate point.
In an optional embodiment of the invention, the calculating a first coordinate point for the historical coordinate point using the target vector and the historical coordinate information includes:
acquiring the road width;
and calculating a first coordinate point in the direction corresponding to the target vector by taking the historical coordinate point as an origin and adopting the road width and the historical coordinate information.
In an optional embodiment of the invention, the calculating a second coordinate point for the current coordinate point using the target vector and the current coordinate information includes:
acquiring the road width;
and calculating a second coordinate point in the direction corresponding to the target vector by taking the current coordinate point as an origin and adopting the road width and the current coordinate information.
In an optional embodiment of the present invention, the determining a driving area corresponding to the driving direction according to the first coordinate point and the second coordinate point includes:
acquiring first coordinate information of the first coordinate point and second coordinate information of the second coordinate point;
and calculating a driving area corresponding to the driving direction by adopting the first coordinate information and the second coordinate information.
In an optional embodiment of the present invention, the acquiring coordinate information during the moving process of the vehicle includes:
and acquiring coordinate information in the moving process of the vehicle according to a preset time interval.
In an optional embodiment of the present invention, the acquiring coordinate information during the moving process of the vehicle includes:
and acquiring coordinate information in the moving process of the vehicle according to the preset driving distance.
In an optional embodiment of the present invention, the generating, according to a plurality of the driving areas, road information corresponding to the moving process of the vehicle includes:
and acquiring a plurality of running areas in a visual range in a preset display device, and displaying road information corresponding to the running areas in the display device.
The communication bus mentioned by the above terminal may be a peripheral component interconnect standard (Peripheral Component Interconnect, abbreviated as PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated as EISA) bus, etc. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.
The communication interface is used for communication between the terminal and other devices.
The memory may include random access memory (Random Access Memory, RAM) or non-volatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.
The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital Signal Processing, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
In yet another embodiment provided by the present invention, as shown in fig. 8, there is further provided a computer-readable storage medium 801 having instructions stored therein, which when run on a computer, cause the computer to perform the parking-based road generation method described in the above embodiment.
In yet another embodiment of the present invention, there is also provided a computer program product containing instructions that, when run on a computer, cause the computer to perform the park-based road generation method described in the above embodiments.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present invention, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), etc.
It is noted that relational terms such as first and second, and the like are 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. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (11)
1. A method of generating a road based on parking, comprising:
acquiring coordinate information in the moving process of a vehicle, wherein the coordinate information comprises historical coordinate information of a historical coordinate point and current coordinate information of a current coordinate point corresponding to the historical coordinate point;
determining a traveling direction of the vehicle; the running direction of the vehicle is determined by the vector relation between the adjacent current coordinate point and the historical coordinate point;
determining a running area corresponding to the running direction according to the historical coordinate information and the current coordinate information, and obtaining a plurality of running areas based on the coordinate information obtained in real time in the moving process of the vehicle in a segmented mode;
generating road information corresponding to the vehicle moving process according to the plurality of driving areas;
wherein the determining a driving area corresponding to the driving direction according to the historical coordinate information and the current coordinate information includes:
obtaining target vectors aiming at the historical coordinate points and the current coordinate points, wherein the target vectors are vectors with directions perpendicular to the running direction;
calculating a first coordinate point for the historical coordinate point by adopting the target vector and the historical coordinate information;
calculating a second coordinate point aiming at the current coordinate point by adopting the target vector and the current coordinate information;
and determining a driving area corresponding to the driving direction according to the first coordinate point and the second coordinate point.
2. The method of claim 1, wherein the determining the direction of travel of the vehicle comprises:
acquiring a first vector corresponding to the historical coordinate information and a second vector corresponding to the current coordinate information;
and determining the running direction of the vehicle by adopting the first vector and the second vector.
3. The method of claim 1, wherein calculating a first coordinate point for the historical coordinate point using the target vector and the historical coordinate information comprises:
acquiring the road width;
and calculating a first coordinate point in the direction corresponding to the target vector by taking the historical coordinate point as an origin and adopting the road width and the historical coordinate information.
4. The method of claim 1, wherein calculating a second coordinate point for the current coordinate point using the target vector and the current coordinate information comprises:
acquiring the road width;
and calculating a second coordinate point in the direction corresponding to the target vector by taking the current coordinate point as an origin and adopting the road width and the current coordinate information.
5. The method of claim 1, wherein the determining a travel area corresponding to the travel direction from the first coordinate point and the second coordinate point comprises:
acquiring first coordinate information of the first coordinate point and second coordinate information of the second coordinate point;
and calculating a driving area corresponding to the driving direction by adopting the first coordinate information and the second coordinate information.
6. The method of claim 1, wherein the acquiring coordinate information during movement of the vehicle comprises:
and acquiring coordinate information in the moving process of the vehicle according to a preset time interval.
7. The method of claim 1, wherein the acquiring coordinate information during movement of the vehicle comprises:
and acquiring coordinate information in the moving process of the vehicle according to the preset driving distance.
8. The method according to claim 1, wherein the generating road information corresponding to the vehicle moving process according to the plurality of driving areas includes:
and acquiring a plurality of running areas in a visual range in a preset display device, and displaying road information corresponding to the running areas in the display device.
9. A parking-based road generating apparatus, comprising:
the system comprises a coordinate information acquisition module, a coordinate information processing module and a coordinate information processing module, wherein the coordinate information acquisition module is used for acquiring coordinate information in the moving process of a vehicle, and the coordinate information comprises historical coordinate information of historical coordinate points and current coordinate information of current coordinate points corresponding to the historical coordinate points;
a travel direction determining module configured to determine a travel direction of the vehicle; the running direction of the vehicle is determined by the vector relation between the adjacent current coordinate point and the historical coordinate point;
the driving area determining module is used for determining driving areas corresponding to the driving directions according to the historical coordinate information and the current coordinate information so as to acquire a plurality of driving areas based on the coordinate information obtained in real time in the moving process of the vehicle in a segmented mode;
the road information generation module is used for generating road information corresponding to the vehicle moving process according to the plurality of driving areas;
wherein, the driving area determining module further includes:
a target vector obtaining sub-module, configured to obtain a target vector for the historical coordinate point and the current coordinate point, where the target vector is a vector whose direction is perpendicular to the driving direction;
a first coordinate point calculation sub-module for calculating a first coordinate point for the historical coordinate point using the target vector and the historical coordinate information;
a second coordinate point calculating sub-module for calculating a second coordinate point for the current coordinate point using the target vector and the current coordinate information;
and the driving area determining submodule is used for determining the driving area corresponding to the driving direction according to the first coordinate point and the second coordinate point.
10. A vehicle comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;
the memory is used for storing a computer program;
the processor is configured to implement the method according to any one of claims 1-8 when executing a program stored on a memory.
11. A computer readable medium having instructions stored thereon, which when executed by one or more processors, cause the processors to perform the method of any of claims 1-8.
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