CN113200039B - Parking-based road generation method, device, vehicle and readable medium - Google Patents

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

Parking-based road generation method, device, vehicle and readable medium

Technical field

The present invention relates to the field of vehicle technology, and in particular to a parking-based road generation method, a parking-based road generation device, a vehicle and a computer-readable medium.

Background technique

With the development of vehicle technology, humans will gradually be freed from tedious driving operations. At this stage, ADAS (Advanced Driver Assistance System) is rapidly becoming popular and will partially replace human driving, so its safety and comfort are important. Particularly important. Among them, in scenarios where the vehicle needs to be driven, such as memory parking scenarios, ACC scenarios (Adaptive Cruise Control, adaptive cruise control system), remote driving scenarios, etc., it is often necessary to record the vehicle's road information in order to understand the vehicle's driving status. Then make corresponding control decisions for the vehicle. Especially in the memory parking scenario, when using it for the first time, the user needs to manually drive the vehicle through the parking route and complete the complete process of "memorizing the route" after parking. Then when using it for the second time, the vehicle can follow the "memory route". "Memory route" assists users to drive the vehicle from the starting point of the set route to the end point of the set route, and park into the parking space that has been memorized by the system to realize automatic parking of the vehicle. However, in the learning process of memory parking, the road in the parking lot needs to be drawn according to the driving of the vehicle. During the drawing process, there are problems of large calculation amount and high system overhead, which seriously reduces the efficiency of road drawing.

Contents of the invention

Embodiments of the present invention provide a parking-based road generation method, device, vehicle and computer-readable storage medium to solve or partially solve the problems of large amount of calculation and high system overhead in road drawing during the road learning process of memory parking. question.

The embodiment of the present invention discloses a parking-based road generation method, which includes:

Obtaining coordinate information during vehicle movement, the coordinate information includes historical coordinate information of the historical coordinate point, and current coordinate information of the current coordinate point corresponding to the historical coordinate point;

Determine the direction of travel of the vehicle;

Determine a driving area corresponding to the driving direction according to the historical coordinate information and the current coordinate information;

According to several driving areas, road information corresponding to the vehicle movement process is generated.

Optionally, determining the driving direction of the vehicle includes:

Obtain the first vector corresponding to the historical coordinate information and the second vector corresponding to the current coordinate information;

The traveling direction of the vehicle is determined using the first vector and the second vector.

Optionally, determining the driving area corresponding to the driving direction based on the historical coordinate information and the current coordinate information includes:

Obtain a target vector for the historical coordinate point and the current coordinate point, where the target vector is a vector with a direction perpendicular to the driving direction;

Using the target vector and the historical coordinate information, calculate the first coordinate point for the historical coordinate point;

Using the target vector and the current coordinate information, calculate a second coordinate point for the current coordinate point;

According to the first coordinate point and the second coordinate point, a traveling area corresponding to the traveling direction is determined.

Optionally, using the target vector and the historical coordinate information to calculate the first coordinate point for the historical coordinate point includes:

Get road width;

Taking the historical coordinate point as the origin, using the road width and the historical coordinate information, calculate the first coordinate point in the direction corresponding to the target vector.

Optionally, using the target vector and the current coordinate information to calculate the second coordinate point for the current coordinate point includes:

Get road width;

Taking the current coordinate point as the origin, using the road width and the current coordinate information, calculate the second coordinate point in the direction corresponding to the target vector.

Optionally, determining the driving area corresponding to the driving direction according to the first coordinate point and the second coordinate point includes:

Obtain the first coordinate information of the first coordinate point and the second coordinate information of the second coordinate point;

Using the first coordinate information and the second coordinate information, a traveling area corresponding to the traveling direction is calculated.

Optionally, the obtaining coordinate information during vehicle movement includes:

Obtain coordinate information during vehicle movement at preset time intervals.

Optionally, the obtaining coordinate information during vehicle movement includes:

Obtain coordinate information during vehicle movement according to the preset driving distance.

Optionally, generating road information corresponding to the vehicle movement process according to several driving areas includes:

A plurality of the driving areas within the visible range of the preset display device are obtained, and the road information corresponding to the driving areas is displayed on the display device.

An embodiment of the present invention also discloses a parking-based road generation device, which includes:

A coordinate information acquisition module, used to obtain coordinate information during vehicle movement, where the coordinate information includes historical coordinate information of historical coordinate points, and current coordinate information of the current coordinate point corresponding to the historical coordinate point;

A driving direction determination module, used to determine the driving direction of the vehicle;

A driving area determination module, configured to determine a driving area corresponding to the driving direction based on the historical coordinate information and the current coordinate information;

A road information generation module is used to generate road information corresponding to the vehicle movement process according to a plurality of the driving areas.

Optionally, the driving direction determination module includes:

A vector acquisition submodule, used to acquire the first vector corresponding to the historical coordinate information and the second vector corresponding to the current coordinate information;

A traveling direction determination module is used to determine the traveling direction of the vehicle using the first vector and the second vector.

Optionally, the driving area determination module includes:

A target vector acquisition submodule, used to acquire a target vector for the historical coordinate point and the current coordinate point, where the target vector is a vector with a direction perpendicular to the driving direction;

The first coordinate point calculation submodule is used to use the target vector and the historical coordinate information to calculate the first coordinate point for the historical coordinate point;

The second coordinate point calculation submodule is used to use the target vector and the current coordinate information to calculate the second coordinate point for the current coordinate point;

A driving area determination submodule is used to determine a driving area corresponding to the driving direction according to the first coordinate point and the second coordinate point.

Optionally, the first coordinate point calculation sub-module is specifically used to:

Get road width;

Taking the historical coordinate point as the origin, using the road width and the historical coordinate information, calculate the first coordinate point in the direction corresponding to the target vector.

Optionally, the second coordinate point calculation sub-module is specifically used to:

Get road width;

Taking the current coordinate point as the origin, using the road width and the current coordinate information, calculate the second coordinate point in the direction corresponding to the target vector.

Optionally, the driving area determination sub-module is specifically used to:

Obtain the first coordinate information of the first coordinate point and the second coordinate information of the second coordinate point;

Using the first coordinate information and the second coordinate information, a traveling area corresponding to the traveling direction is calculated.

Optionally, the coordinate information acquisition module is specifically used to:

Obtain coordinate information during vehicle movement at preset time intervals.

Optionally, the coordinate information acquisition module is specifically used to:

Obtain coordinate information during vehicle movement according to the preset driving distance.

Optionally, the road information generation module is specifically used to:

A plurality of the driving areas within the visible range of the preset display device are obtained, and the road information corresponding to the driving areas is displayed on the display device.

An embodiment of the present invention also discloses a vehicle, including a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete communication with each other through the communication bus;

The memory is used to store computer programs;

The processor is used to implement the above method when executing a program stored in the memory.

Embodiments of the present invention also disclose one or more computer-readable media having instructions stored thereon that, when executed by one or more processors, cause the processors to perform the method as described above.

Embodiments of the present invention include the following advantages:

In the embodiment of the present invention, during the road learning process of memory parking, the vehicle can obtain coordinate information during movement, where the coordinate information may include historical coordinate information of historical coordinate points and current coordinates corresponding to the historical coordinate points. The current coordinate information of the point is then used to determine the driving direction of the vehicle based on the coordinate information, and the driving area corresponding to the driving direction is determined based on the historical coordinate information and the current coordinate information. Then the corresponding road during vehicle movement can be generated based on multiple driving areas. Information, a section of the driving area corresponding to the driving direction is determined through two coordinate points, and a driving area is determined based on the two coordinate points, which effectively reduces the calculation amount of each coordinate calculation, reduces the computing overhead of the system, and simultaneously combines multiple In the process of synthesizing road information from the driving area, since the driving area is cached piece by piece, the drawing performance can be reduced during the road drawing process, further reducing the system overhead and improving the efficiency of road drawing.

Description of drawings

Figure 1 is a step flow chart of a parking-based road generation method provided in an embodiment of the present invention;

Figure 2 is a schematic diagram of coordinate points provided in the embodiment of the present invention;

Figure 3 is a schematic diagram of coordinate points provided in the embodiment of the present invention;

Figure 4 is a schematic diagram of the driving area provided in the embodiment of the present invention;

Figure 5 is a schematic diagram of road information provided in an embodiment of the present invention;

Figure 6 is a structural block diagram of a parking-based road generation device provided in an embodiment of the present invention;

Figure 7 is a block diagram of an electronic device provided in an embodiment of the present invention;

Figure 8 is a schematic diagram of a computer-readable medium provided in an embodiment of the present invention.

Detailed ways

In order to make the above objects, features and advantages of the present invention more obvious and understandable, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

As an example, with the rapid development of vehicle automatic driving technology, automatic driving, automatic parking, memory parking, etc. have achieved certain development in vehicle application scenarios. Among them, memory parking can realize automatic parking of vehicles without relying on parking lot renovation. Specifically, through a simple learning and saving process, automatic parking on fixed routes in the parking lot can be realized. At the same time, functions such as automatic speed adjustment, turning, obstacle avoidance and meeting can be completed by relying on relevant data processing during driving to satisfy users. Parking needs in various scenarios.

For the vehicle's memory parking, when it is used for the first time, the user needs to manually drive the vehicle through the parking route and complete the complete process of "memory route" after parking. Then, when it is used for the second time, the vehicle can follow the "memory route" "Assist the user to drive the vehicle from the starting point of the set route to the end point of the set route, and park into the parking space that has been memorized by the system to realize automatic parking of the vehicle, so that by learning different parking lots, the vehicle can Automatic parking is completed based on actual scenarios, effectively improving the user's driving experience.

Among them, in the process of memory parking, since the "recorded route" learning needs to be performed first, the learning process involves the learning of 3D parking roads, that is, the vehicle needs to draw the corresponding driving road in the parking lot. In the process of drawing parking lot roads, a series of coordinate points are often collected while the vehicle is driving. Then each calculation is based on all coordinate points to calculate the driving route and determine the corresponding road information. However, in this process, since each time involves the calculation of the full number of coordinate points, as the vehicle continues to advance, more and more coordinate points will be calculated in each frame, and the amount of calculations in the system will continue to increase, resulting in CPU usage. It is getting higher and higher, which easily reduces the efficiency of road information learning and affects the user's parking experience.

In this regard, one of the core inventions of the embodiments of the present invention is that during the road learning process of memory parking, as the vehicle drives, the vehicle can obtain the current coordinate information of the current coordinate point and the previous coordinate corresponding to the current coordinate point. The historical coordinate information of the point is then used to determine the driving direction of the vehicle based on the coordinate information, and the driving area corresponding to the driving direction is determined based on the historical coordinate information and the current coordinate information, and then the corresponding road during vehicle movement can be generated based on multiple driving areas. Information, a section of the driving area corresponding to the driving direction is determined through two coordinate points, and a driving area is determined based on the two coordinate points, which effectively reduces the calculation amount of each coordinate calculation, reduces the computing overhead of the system, and simultaneously combines multiple In the process of synthesizing road information from the driving area, since the driving area is cached piece by piece, the drawing performance can be reduced during the road drawing process, further reducing the system overhead and improving the efficiency of road drawing.

Specifically, referring to Figure 1, a flow chart of steps of a parking-based road generation method provided in an embodiment of the present invention is shown, which may include the following steps:

Step 101: Obtain the coordinate information during vehicle movement. The coordinate information includes the historical coordinate information of the historical coordinate point and the current coordinate information of the current coordinate point corresponding to the historical coordinate point;

In the embodiment of the present invention, before using the memory parking function of the vehicle, especially when using it for the first time, the user needs to manually drive the vehicle to learn the "memory route" of the corresponding parking lot. During the process of parking, the vehicle can obtain the coordinate information during the movement of the vehicle through the corresponding sensor. For example, after the user turns on the memory parking function of the vehicle, the vehicle records the corresponding starting coordinate point. As the vehicle moves, , and continuously obtain the corresponding coordinate points to generate the vehicle's driving route based on the coordinate points, or generate the corresponding road information in the parking lot to complete the "memory route" learning in the memory parking process.

Optionally, for obtaining the coordinate information, the vehicle can obtain the coordinate information during the vehicle's driving process according to a preset time interval, or can obtain the coordinate information during the vehicle's movement according to a preset driving distance. For example, the vehicle can obtain the coordinate information during the vehicle's movement every 1 second. Or obtain coordinate information once every 2 seconds or 3 seconds, etc., or obtain coordinate information once every N meters the vehicle travels. The present invention does not limit this.

In a specific implementation, each time the vehicle obtains coordinate information, it can only obtain the current coordinate point of the vehicle and the previous coordinate point (historical coordinate point) corresponding to the current coordinate point, and then obtain these two coordinate points respectively. The corresponding coordinate information (which can be longitude and latitude information, or coordinate information in the plane coordinate system established for the parking lot, etc.), thereby obtaining the coordinate information of the two coordinate points, can effectively reduce the amount of subsequent coordinate operations and reduce Vehicle system computing overhead.

In one example, before using the memory parking function for the first time, the user can first drive the vehicle to move in the parking lot, so that the vehicle can learn the "memory route" of the parking lot. Specifically, as the vehicle moves, the vehicle can obtain the current coordinate point S _n and the previous coordinate point S _n-1 corresponding to the current coordinate point S _n , and then obtain the coordinate information (X _n corresponding to the current coordinate point S _n , Y _n ), the coordinate information (X n _{- 1} , Y _n-1 ) corresponding to the coordinate point S n-1; when the coordinate information is obtained next time, the current coordinate point can be S _n+1 , and the coordinate point S _n Become the previous coordinate point, and then obtain the corresponding coordinate information, and based on this, continuously obtain the coordinate information during the vehicle's driving process to complete the vehicle's "memory route" learning of the parking lot, especially the learning of 3D parking roads.

Step 102, determine the driving direction of the vehicle;

In a specific implementation, the first vector corresponding to the historical coordinate point can be determined based on the historical coordinate information, and the second vector corresponding to the current coordinate point can be determined based on the current coordinate information, and then the first vector and the second vector are used to determine the driving direction of the vehicle. .

In one example, the vehicle can obtain the floor plan of the parking lot and establish a corresponding coordinate system for the floor plan. As the vehicle moves in the parking lot, it can obtain the corresponding coordinate points and the coordinate information of the coordinate points, and then based on the coordinates The information and the origin determine the vector corresponding to each coordinate point, and then the vehicle's driving direction is determined through the vector relationship between the adjacent current coordinate point and the historical coordinate point. Specifically, referring to Figure 2, a schematic diagram of the coordinate points provided in the embodiment of the present invention is shown, where P1 is the historical coordinate point, P2 is the current coordinate point, is the first vector corresponding to the historical coordinate point (the dotted line corresponding to P1),/> is the second vector corresponding to the current coordinate point (the dotted line corresponding to P1), then /> Less/> The driving direction of the vehicle (the solid line pointing from P1 to P2) can be obtained, so that the driving direction of the vehicle can be determined by obtaining two adjacent coordinate points during the driving process of the vehicle.

Step 103: Determine the driving area corresponding to the driving direction based on the historical coordinate information and the current coordinate information;

In the embodiment of the present invention, after obtaining the coordinate information of the current coordinate point and the historical punctuation point, the driving area corresponding to the driving direction can be determined based on the two coordinate points, thereby determining a section of the driving area corresponding to the driving direction through the two coordinate points. Determining a driving area based on two coordinate points effectively reduces the calculation amount of each coordinate calculation and reduces the computing overhead of the system.

In a specific implementation, the vehicle can obtain the target vector for the historical coordinate point and the current coordinate point, where the target vector is a vector perpendicular to the driving direction, and then use the target vector and historical coordinate information to calculate the first target vector for the historical coordinate point. coordinate point, and uses the target vector and the current coordinate information to calculate the second coordinate point for the current coordinate point, and then determines the driving area corresponding to the driving direction based on the first coordinate point and the second coordinate point.

Specifically, for a road, which has a certain width, in order to determine its corresponding width, the target vector corresponding to the traveling direction can be obtained after the vehicle traveling direction is determined. The target vector can be a unit vector with a direction perpendicular to the driving direction, so that the corresponding target coordinate point can be obtained by extending the historical coordinate point or the current coordinate point in a direction perpendicular to the driving direction.

In one example, after determining the target vector perpendicular to the driving direction, the road width can be obtained. The road width can be the road width preset during the memory parking process, which can be the width of the driving road based on the actual parking lot. Make settings. The vehicle can use the historical coordinate point as the origin and use the road width and historical coordinate information to calculate the first coordinate point in the direction corresponding to the target vector; and use the current coordinate point as the origin and use the road width and current coordinate information to calculate the first coordinate point in the target vector. The second coordinate point in the corresponding direction. Referring to Figure 3, a schematic diagram of the coordinate points provided in the embodiment of the present invention is shown. For the target vector P _s , the first direction it points to and the second direction opposite to the first direction can be taken, so as to use the history The coordinate point or the current coordinate point is the origin. Combining the road width and direction, the first coordinate points V ₁ and V ₂ corresponding to the historical coordinate point and the second coordinate points V ₃ and V ₄ corresponding to the current coordinate point can be determined. . Then the coordinate information of the coordinate points V ₁ , V ₂ , V ₃ and V ₄ can be obtained, and then based on each coordinate information, the driving area corresponding to the driving direction is calculated. For example, referring to Figure 4, a schematic diagram of the driving area provided in the embodiment of the present invention is shown. In OpenGl, the road model can be composed of points, lines and triangles, then in ① a triangle can be determined by three different coordinate points Model (for example, you can form a triangle for V ₁ , V ₂ , and V ₄ , you can also form a triangle for V ₁ , V ₃ , and V ₄ , you can also form a triangle for V ₂ , V ₃ , and V ₄ , and you can Form a triangle for V ₁ , V ₂ , V _{3 ,} etc.). In ②, the driving area corresponding to the historical coordinate point and the current coordinate point is determined through two triangle models. In addition, after obtaining the driving area corresponding to the historical coordinate point and the current coordinate point, the driving area can be cached. As the vehicle continues to drive, a new driving area can be generated based on the new coordinate information and continue to be cached, and repeated The same coordinate operation is carried out until the end of road learning for 3D parking, thereby determining a driving area corresponding to the driving direction through two coordinate points, and determining a driving area based on the two coordinate points, effectively reducing the amount of calculation for each coordinate calculation. , reducing the computing overhead of the system.

Step 104: Generate road information corresponding to the vehicle movement process according to several driving areas.

In a specific implementation, after determining the driving area corresponding to the current driving direction by calculating the coordinate information of the current coordinate point and the previous historical coordinate point, the driving area calculated each time can be cached, so that in the process of drawing the road, the driving area can be cached. All mixed driving areas are called to draw to form a complete road, so that only the latest coordinate points are calculated each time during the road drawing process, reducing the calculation of a series of coordinate points, reducing the occupation of drawing performance, and further reducing the system's cost, improve the efficiency of road drawing, and then complete 3D road learning in the memory parking process.

In addition, since the driving area is cached segment by segment, in the process of displaying road information, several driving areas within the visible range of the display device can be obtained first, and then these driving areas are combined to generate a complete segment. road and display the road in the display device. For example, referring to Figure 5, a schematic diagram of the road information provided in the embodiment of the present invention is shown. The driving area is cached in segments, and N driving areas can be combined to generate the corresponding road. Specifically, it can be displayed when Select the road segment that is only displayed on the screen. Specifically, each cached driving area will record its starting point and end point coordinates. Each time it is drawn, the starting point and end point are compared with the real-time coordinates of the vehicle. If it is located on the screen, The range of is displayed, and if it is outside the range of the screen, it is not displayed. Therefore, in the process of each coordinate calculation, a driving area corresponding to the driving direction is determined through two coordinate points, and a driving area is determined based on the two coordinate points. , effectively reducing the amount of calculation for each coordinate calculation and reducing the computing overhead of the system. At the same time, in the process of synthesizing road information from multiple driving areas, since the driving areas are cached piece by piece, the process of road drawing can be Reduce the occupation of drawing performance, further reduce system overhead, and improve the efficiency of road drawing.

It should be noted that the embodiments of the present invention include but are not limited to the above examples. It can be understood that, under the guidance of the embodiments of the present invention, those skilled in the art can also make settings according to actual needs, and the present invention does not limit this.

In the embodiment of the present invention, during the road learning process of memory parking, the vehicle can obtain coordinate information during movement, where the coordinate information may include historical coordinate information of historical coordinate points and current coordinates corresponding to the historical coordinate points. The current coordinate information of the point is then used to determine the driving direction of the vehicle based on the coordinate information, and the driving area corresponding to the driving direction is determined based on the historical coordinate information and the current coordinate information. Then the corresponding road during vehicle movement can be generated based on multiple driving areas. Information, a section of the driving area corresponding to the driving direction is determined through two coordinate points, and a driving area is determined based on the two coordinate points, which effectively reduces the calculation amount of each coordinate calculation, reduces the computing overhead of the system, and simultaneously combines multiple In the process of synthesizing road information from the driving area, since the driving area is cached piece by piece, the drawing performance can be reduced during the road drawing process, further reducing the system overhead and improving the efficiency of road drawing.

It should be noted that for the sake of simple description, the method embodiments are expressed as a series of action combinations. However, those skilled in the art should know that the embodiments of the present invention are not limited by the described action sequence because According to embodiments of the present invention, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily necessary for the embodiments of the present invention.

Referring to Figure 6, a structural block diagram of a parking-based road generation device provided in an embodiment of the present invention is shown. Specifically, it may include the following modules:

The coordinate information acquisition module 601 is used to obtain coordinate information during vehicle movement. The coordinate information includes historical coordinate information of historical coordinate points, and current coordinate information of the current coordinate point corresponding to the historical coordinate point;

The driving direction determination module 602 is used to determine the driving direction of the vehicle;

The driving area determination module 603 is used to determine the driving area corresponding to the driving direction according to the historical coordinate information and the current coordinate information;

The road information generation module 604 is used to generate road information corresponding to the vehicle movement process according to several driving areas.

In an optional embodiment of the present invention, the driving direction determination module 602 includes:

A vector acquisition submodule, used to acquire the first vector corresponding to the historical coordinate information and the second vector corresponding to the current coordinate information;

The traveling direction determination module 602 is configured to use the first vector and the second vector to determine the traveling direction of the vehicle.

In an optional embodiment of the present invention, the driving area determination module 603 includes:

A target vector acquisition submodule, used to acquire a target vector for the historical coordinate point and the current coordinate point, where the target vector is a vector with a direction perpendicular to the driving direction;

The first coordinate point calculation submodule is used to use the target vector and the historical coordinate information to calculate the first coordinate point for the historical coordinate point;

The second coordinate point calculation submodule is used to use the target vector and the current coordinate information to calculate the second coordinate point for the current coordinate point;

A driving area determination submodule is used to determine 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 present invention, the first coordinate point calculation sub-module is specifically used to:

Get road width;

Taking the historical coordinate point as the origin, using the road width and the historical coordinate information, calculate the first coordinate point in the direction corresponding to the target vector.

In an optional embodiment of the present invention, the second coordinate point calculation sub-module is specifically used to:

Get road width;

Taking the current coordinate point as the origin, using the road width and the current coordinate information, calculate the second coordinate point in the direction corresponding to the target vector.

In an optional embodiment of the present invention, the driving area determination sub-module is specifically used to:

Obtain the first coordinate information of the first coordinate point and the second coordinate information of the second coordinate point;

Using the first coordinate information and the second coordinate information, a traveling area corresponding to the traveling direction is calculated.

In an optional embodiment of the present invention, the coordinate information acquisition module 601 is specifically used to:

Obtain coordinate information during vehicle movement at preset time intervals.

In an optional embodiment of the present invention, the coordinate information acquisition module 601 is specifically used to:

Obtain coordinate information during vehicle movement according to the preset driving distance.

In an optional embodiment of the present invention, the road information generation module 604 is specifically used to:

A plurality of the driving areas within the visible range of the preset display device are obtained, and the road information corresponding to the driving areas is displayed on the display device.

As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple. For relevant details, please refer to the partial description of the method embodiment.

In addition, an embodiment of the present invention also provides a vehicle, as shown in Figure 7, including a processor 701, a communication interface 702, a memory 703, and a communication bus 704. The processor 701, the communication interface 702, and the memory 703 communicate through the communication bus 704. complete mutual communication,

Memory 703, used to store computer programs;

The processor 701 is used to execute the program stored on the memory 703 to implement the following steps:

Obtaining coordinate information during vehicle movement, the coordinate information includes historical coordinate information of the historical coordinate point, and current coordinate information of the current coordinate point corresponding to the historical coordinate point;

Determine the direction of travel of the vehicle;

Determine a driving area corresponding to the driving direction according to the historical coordinate information and the current coordinate information;

According to several driving areas, road information corresponding to the vehicle movement process is generated.

In an optional embodiment of the present invention, determining the driving direction of the vehicle includes:

Obtain the first vector corresponding to the historical coordinate information and the second vector corresponding to the current coordinate information;

The traveling direction of the vehicle is determined using the first vector and the second vector.

In an optional embodiment of the present invention, determining the driving area corresponding to the driving direction based on the historical coordinate information and the current coordinate information includes:

Obtain a target vector for the historical coordinate point and the current coordinate point, where the target vector is a vector with a direction perpendicular to the driving direction;

Using the target vector and the historical coordinate information, calculate the first coordinate point for the historical coordinate point;

Using the target vector and the current coordinate information, calculate a second coordinate point for the current coordinate point;

According to the first coordinate point and the second coordinate point, a traveling area corresponding to the traveling direction is determined.

In an optional embodiment of the present invention, using the target vector and the historical coordinate information to calculate the first coordinate point for the historical coordinate point includes:

Get road width;

Taking the historical coordinate point as the origin, using the road width and the historical coordinate information, calculate the first coordinate point in the direction corresponding to the target vector.

In an optional embodiment of the present invention, using the target vector and the current coordinate information to calculate the second coordinate point for the current coordinate point includes:

Get road width;

Taking the current coordinate point as the origin, using the road width and the current coordinate information, calculate the second coordinate point in the direction corresponding to the target vector.

In an optional embodiment of the present invention, determining the driving area corresponding to the driving direction according to the first coordinate point and the second coordinate point includes:

Obtain the first coordinate information of the first coordinate point and the second coordinate information of the second coordinate point;

Using the first coordinate information and the second coordinate information, a traveling area corresponding to the traveling direction is calculated.

In an optional embodiment of the present invention, obtaining coordinate information during vehicle movement includes:

Obtain coordinate information during vehicle movement at preset time intervals.

In an optional embodiment of the present invention, obtaining coordinate information during vehicle movement includes:

Obtain coordinate information during vehicle movement according to the preset driving distance.

In an optional embodiment of the present invention, generating road information corresponding to the vehicle movement process according to several driving areas includes:

A plurality of the driving areas within the visible range of the preset display device are obtained, and the road information corresponding to the driving areas is displayed on the display device.

The communication bus mentioned in the above terminal may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The communication bus can be divided into address bus, data bus, control bus, etc. For ease of presentation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

The communication interface is used for communication between the above terminal and other devices.

The memory may include 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 storage device located far away from the aforementioned processor.

The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (Digital Signal Processing, DSP). , Application Specific Integrated Circuit (ASIC for short), Field-Programmable Gate Array (FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

As shown in Figure 8, in another embodiment of the present invention, a computer-readable storage medium 801 is also provided. The computer-readable storage medium stores instructions. When run on a computer, the computer The parking-based road generation method described in the above embodiment is performed.

In yet another embodiment provided by the present invention, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute the parking-based road generation method described in the above embodiment.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it 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 the computer program instructions are loaded and executed on a computer, the processes or functions described in accordance with the embodiments of the present invention are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, e.g., the computer instructions may be transferred from a website, computer, server, or data center Transmission to another website, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) means. 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 one or more available media integrated. The available media may be magnetic media (eg, floppy disk, hard disk, magnetic tape), optical media (eg, DVD), or semiconductor media (eg, Solid State Disk (SSD)), etc.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations are mutually exclusive. any such actual relationship or sequence exists between them. Furthermore, the terms "comprises," "comprises," or any other variations thereof are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also those not expressly listed other elements, or elements inherent to the process, method, article or equipment. Without further limitation, an element defined by the statement "comprises a..." does not exclude the presence of additional identical elements in a process, method, article, or apparatus that includes the stated element.

Each embodiment in this specification is described in a related manner. The same and similar parts between the various embodiments can be referred to each other. Each embodiment focuses on its differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple. For relevant details, please refer to the partial description of the method embodiment.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles 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.