CN113806607B - Track display method and device, electronic equipment and storage medium - Google Patents
Track display method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of electronic maps and provides a track display method and device, electronic equipment and a storage medium. Firstly, obtaining a trajectory comprising a plurality of nodes and a plurality of trajectory line segments, wherein every two adjacent nodes form one trajectory line segment, and each node comprises longitude and latitude; then, according to the longitude and latitude of each node, obtaining the deflection angle of each track line segment, wherein the deflection angle of each track line segment has a preset angle range, and the target speed of each track line segment can be obtained based on a preset incidence relation, namely the relation between the preset angle range and the target speed; then obtaining the instantaneous speed of each node according to the target speed of each track segment; and finally, displaying the trajectory line according to the instantaneous speed of each node. The intelligent display of the track line can be realized, the actual driving condition of the vehicle is more closely approached, and the display effect is improved.
Description
Technical Field
The invention relates to the technical field of electronic maps, in particular to a track display method and device, electronic equipment and a storage medium.
Background
With the popularization of electronic maps, the movement track of an object can be viewed through the track displayed on the electronic map based on big data. At present, tracks are usually displayed in a uniform speed playing mode, but for a complex road condition and a path with a large curvature, the playing mode is obviously inconsistent with the actual situation.
Disclosure of Invention
In view of this, the present invention provides a track displaying method and apparatus, an electronic device, and a storage medium.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, the present invention provides a track display method, including:
obtaining a trajectory line comprising a plurality of nodes and a plurality of trajectory line segments; each node comprises longitude and latitude, and each two adjacent nodes form one track line segment;
obtaining the deflection angle of each track line segment according to the longitude and latitude of each node;
obtaining a target speed of each track segment according to the deflection angle of each track segment and a preset association relation; each deflection angle has a preset angle range; the preset incidence relation represents the relation between a preset angle range and a target speed;
obtaining the instantaneous speed of each node according to the target speed of each track line segment;
and displaying the trajectory line according to the instantaneous speed of each node.
In an optional implementation manner, the step of obtaining a deflection angle of each track line segment according to the longitude and latitude of each node includes:
aiming at each node, obtaining a direction angle of the current node according to the longitude and latitude of the current node and the longitude and latitude of the previous node to obtain the direction angle of each node;
and obtaining the deflection angle of each track line segment according to the direction angles of the head node and the tail node on each track line segment.
In an alternative embodiment, each of the nodes comprises the same initial speed; the preset incidence relation comprises a plurality of preset angle ranges and preset upper limit speed and preset parameters of each preset angle range;
the preset incidence relation is obtained according to the following mode:
obtaining a preset speed of each preset angle range according to the initial speed and preset parameters of each preset angle range;
and taking the smaller of the preset upper limit speed and the preset speed of each preset angle range as the target speed corresponding to each preset angle range.
In an optional embodiment, the step of obtaining the target speed of each trajectory segment according to the deflection angle of each trajectory segment and a preset association relationship includes:
from among the plurality of preset angle ranges, determining a preset angle range to which the deflection angle of each track line segment belongs;
and obtaining the target speed of each track line segment according to the target speed corresponding to the preset angle range to which each deflection angle belongs.
In an optional embodiment, the preset association relationship further includes a priority corresponding to each preset angle range;
the step of obtaining the instantaneous speed of each node according to the target speed corresponding to each track line segment comprises the following steps:
obtaining the priority corresponding to each track line segment according to the preset angle range to which the deflection angle of each track line segment belongs;
acquiring target speeds of all track line segments corresponding to any one target priority according to the sequence of the priorities from high to low;
obtaining the instantaneous speed of the node on each track line segment corresponding to the target priority according to the target speeds of all track line segments corresponding to the target priority;
calculating the instantaneous speed of the adjacent node according to the instantaneous speed of the node on each track line segment corresponding to the target priority;
and traversing each priority to obtain the instantaneous speed of each node.
In an optional implementation manner, the step of calculating the instantaneous speed of the adjacent node according to the instantaneous speed of the node on each trajectory line segment corresponding to the target priority includes:
aiming at a target node on any one track line segment, acquiring the length of each track line segment formed by W nodes adjacent to the target node to obtain the total length of the target track line segment; the target track line segment is a track line segment formed by the target node and the W nodes;
obtaining the acceleration of the target track line segment according to the initial speed, the instantaneous speed of the target node, the total length of the target track line segment and a first preset formula; the first preset formula is as follows:
wherein, V c Represents an initial velocity; v m Representing the instantaneous speed of the target node; l represents the total length of the target trajectory segment; a represents the acceleration of the target trajectory segment;
obtaining the instantaneous speed of each adjacent node according to the acceleration of the target track line segment, the instantaneous speed of the target node, the length of each track line segment formed by the W nodes and a second preset formula; the second preset formula is as follows:
wherein a represents the acceleration of the target trajectory segment; v m Representing the instantaneous speed of the target node; s. the w Representing the length of a track line segment formed by the w-th node and the target node; v w Representing the instantaneous speed of the w-th node; w is a positive integer less than or equal to W.
In an alternative embodiment, each of the trajectory segments comprises a length; said step of presenting said trajectory line as a function of the instantaneous speed of each of said nodes, comprising:
obtaining the acceleration of each track line segment according to the instantaneous speed of each node and the length of each track line segment;
obtaining the running time of each track according to the acceleration of each track line segment and the instantaneous speed of a node on each track line segment;
obtaining a corresponding relation between each display period and a track position point according to the instantaneous speed of each node, the acceleration and the running time of each line segment and a preset display period;
and displaying the trajectory line according to the corresponding relation.
In a second aspect, the present invention provides a track display apparatus, the apparatus comprising:
the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring a track line comprising a plurality of nodes and a plurality of track line segments; each node comprises longitude and latitude, and each two adjacent nodes form one track line segment;
the conversion module is used for obtaining the deflection angle of each track line segment according to the longitude and latitude of each node;
the processing module is used for obtaining the target speed of each track segment according to the deflection angle of each track segment and a preset association relation; each deflection angle has a preset angle range; the preset incidence relation represents the relation between a preset angle range and a target speed;
the calculation module is used for obtaining the instantaneous speed of each node according to the target speed of each track line segment;
and the display module is used for displaying the trajectory line according to the instantaneous speed of each node.
In a third aspect, the present invention provides an electronic device, comprising a processor and a memory, wherein the memory stores a computer program, and the processor implements the method of any one of the preceding embodiments when executing the computer program.
In a fourth aspect, the present invention provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any of the preceding embodiments.
According to the track display method, the track display device, the electronic equipment and the storage medium, the track line comprising a plurality of nodes and a plurality of track line segments is obtained, every two adjacent nodes form one track line segment, and each node comprises the longitude and the latitude; then, according to the longitude and latitude of each node, obtaining the deflection angle of each track line segment, wherein the deflection angle of each track line segment has a preset angle range, and the target speed of each track line segment can be obtained based on a preset incidence relation, namely the relation between the preset angle range and the target speed; then obtaining the instantaneous speed of each node according to the target speed of each track segment; and finally, displaying the trajectory line according to the instantaneous speed of each node. The trajectory line is displayed based on the speeds of different nodes on the trajectory line, so that non-uniform display of the trajectory line can be realized, intelligent display of the trajectory line is realized, the trajectory line can be closer to and more real with the actual driving condition of a vehicle, and the display effect is improved.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a diagram illustrating an example of a track display method according to an embodiment of the present invention;
FIG. 2 is a block diagram of an electronic device provided by an embodiment of the invention;
FIG. 3 is a flow chart of a trajectory display method according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating a trajectory display method according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating another example of a track display method provided by an embodiment of the present invention;
FIG. 6 is a schematic flow chart illustrating a trajectory display method according to an embodiment of the present invention;
FIG. 7 is a diagram illustrating another example of a track display method provided by an embodiment of the present invention;
FIG. 8 is a schematic flow chart illustrating a trajectory display method according to an embodiment of the present invention;
FIG. 9 is a diagram illustrating another example of a track display method provided by an embodiment of the present invention;
FIG. 10 is a schematic flow chart illustrating a trajectory display method according to an embodiment of the present invention;
FIG. 11 is a schematic flow chart illustrating a trajectory display method according to an embodiment of the present invention;
FIG. 12 is a diagram illustrating another example of a track display method provided by an embodiment of the invention;
FIG. 13 is a schematic flow chart illustrating a trajectory display method according to an embodiment of the present invention;
FIG. 14 is a functional block diagram of a track display apparatus according to an embodiment of the present invention.
Icon: 100-an electronic device; 110-a bus; 120-a processor; 130-a memory; 150-I/O module; 170 — a communication interface; 300-a trajectory display device; 310-an acquisition module; 330-a conversion module; 350-a processing module; 370-a calculation module; 390-display module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or 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 a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
At present, an electronic map is an intuitive data presentation mode, and is more and more widely applied by more and more industries. For example, the trajectory of the vehicle may be viewed through an electronic map. The real-time navigation route when driving the vehicle can determine the track route and the track display speed of the vehicle according to the traffic rule, the real-time vehicle flow, the road condition and other comprehensive factors.
When not a real-time trajectory route, for example, for the trajectory route diagram shown in fig. 1. Usually, the track information is displayed in a uniform speed playing manner, but if the road conditions are complex and a path with a large curvature exists, the track line is still displayed in a manner that the speed of the vehicle running on the straight line is the same as the speed of the vehicle running on the curved route, obviously, the speed does not accord with the actual situation, and the track route cannot be displayed well. Furthermore, the technical scheme provides a track display method to solve the above problems.
Fig. 2 is a block diagram of an electronic device 100 according to an embodiment of the present invention. Electronic device 100 includes bus 110, processor 120, memory 130, I/O module 150, and communication interface 170.
The processor 120 may receive commands from the above-described other elements (e.g., the memory 130, the I/O module 150, the communication interface 170, etc.) through the bus 110, may interpret the received commands, and may perform calculations or data processing based on the interpreted commands.
The processor 120 may be an integrated circuit chip having signal processing capabilities. The processor 120 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components.
The memory 130 may store commands or data received from the processor 120 or other elements (e.g., the I/O module 150, the communication interface 170, etc.) or commands or data generated by the processor 120 or other elements.
The Memory 130 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Read Only Memory (EPROM), an electrically Erasable Read Only Memory (EEPROM), and the like.
The I/O module 150 may receive commands or data input from a user via input-output means (e.g., a sensor, a keyboard, a touch screen, etc.) and may transmit the received commands or data to the processor 120 or the memory 130 through the bus 110. And for displaying various information (e.g., multimedia data, text data) received, stored, processed from the above-described elements, video, images, data, etc. may be displayed to a user.
The communication interface 170 may be used for communicating signaling or data with other node devices.
It is understood that the structure shown in fig. 2 is merely a schematic diagram of the structure of the electronic device 100, and that the electronic device 100 may include more or less components than those shown in fig. 2, or have a different configuration than that shown in fig. 2. The components shown in fig. 2 may be implemented in hardware, software, or a combination thereof.
The electronic device provided by the embodiment of the invention can be a smart phone, a personal computer, a tablet computer, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, a Personal Digital Assistant (PDA), and the like. The embodiments of the present invention do not limit this.
The electronic device 100 described above is used as an execution subject to execute each step in each method provided by the embodiments of the present invention, and achieve the corresponding technical effect.
Referring to fig. 3, fig. 3 is a schematic flowchart illustrating a track displaying method according to an embodiment of the present invention.
Step S202, obtaining a trajectory line comprising a plurality of nodes and a plurality of trajectory line segments;
each node comprises longitude and latitude, and each two adjacent nodes form a track line segment;
optionally, the track points, that is, nodes, of the vehicle on a certain path within a past preset time period may be collected, and each node has latitude and longitude information. And connecting every two adjacent nodes in the geographic position in a straight line mode according to the longitude and latitude of the nodes to obtain a plurality of track line segments, and obtaining the track line by the plurality of nodes and the plurality of track line segments.
Step S204, obtaining the deflection angle of each track line segment according to the longitude and latitude of each node;
it can be understood that two nodes form a track line segment, the nodes have latitude and longitude information, and the position and direction of the track line segment can be represented based on the latitude and longitude of the two nodes on the track line segment. After the position direction of each track segment is obtained, the deflection angle of the current track segment relative to the previous track segment can be obtained. This deflection angle is the deflection angle of the trajectory segment.
Alternatively, the deflection angle of each trajectory segment, which represents the deflection angle of the current trajectory segment with respect to the previous trajectory segment, may be derived based on the longitude and latitude of each node.
Step S206, obtaining the target speed of each track segment according to the deflection angle of each track segment and a preset association relation;
wherein each deflection angle has a preset angle range; the preset incidence relation represents the relation between a preset angle range and a target speed;
alternatively, a preset association relationship may be obtained in advance, that is, a relationship between the preset angle range and the target speed is established. According to the preset angle range to which the deflection angle of each track segment belongs, the target speed of each track segment can be obtained based on the relation between the preset angle range and the target speed.
Step S208, obtaining the instantaneous speed of each node according to the target speed of each track segment;
optionally, after the target speed of each track segment is obtained, the speed of the node on the track segment is obtained based on the target speed of the track segment. That is, the instantaneous speed of each node can be obtained based on the target speed of each trajectory segment. This instantaneous speed can be understood as the speed of the simulated vehicle passing through the trajectory point on the trajectory line.
Step S210, displaying a trajectory line according to the instantaneous speed of each node;
optionally, based on the obtained instantaneous speed of each node, the speed of the vehicle passing through different track points on the track line can be obtained, and based on the instantaneous speeds, the track line can be displayed at a non-uniform speed, so that the intelligent display of the track line is realized.
Based on the design, the trajectory line comprising a plurality of nodes and a plurality of trajectory line segments is obtained, every two adjacent nodes form one trajectory line segment, and each node comprises longitude and latitude; then, according to the longitude and latitude of each node, obtaining the deflection angle of each track line segment, wherein the deflection angle of each track line segment has a preset angle range, and the target speed of each track line segment can be obtained based on a preset incidence relation, namely the relation between the preset angle range and the target speed; then obtaining the instantaneous speed of each node according to the target speed of each track segment; and finally, displaying the trajectory line according to the instantaneous speed of each node. The trajectory line is displayed based on the speeds of different nodes on the trajectory line, so that non-uniform display of the trajectory line can be realized, intelligent display of the trajectory line is realized, the trajectory line can be closer to and more real with the actual driving condition of a vehicle, and the display effect is improved.
Optionally, for the step S204, the embodiment of the present invention provides a possible implementation manner. Referring to fig. 4, fig. 4 is a schematic flowchart illustrating a track displaying method according to an embodiment of the present invention. Wherein, the step S204 may include the following steps:
step S204-1, aiming at each node, obtaining a direction angle of the current node according to the longitude and latitude of the current node and the longitude and latitude of the previous node to obtain the direction angle of each node;
it can be understood that the length of the trajectory line segment formed between the nodes is very small relative to the circumference of the earth, so that the difference caused by the earth being a spherical surface can be ignored, and the surface of the earth can be spread out into a plane to calculate the direction angle of each node. The direction angle of a node refers to the angle that the current node deflects in the target direction corresponding to the previous node.
As shown in fig. 5, three nodes P (X), P (X + 1), and P (X + 2) are included, the longitude and latitude of the node P (X) is (X1, y 1), the longitude and latitude of the node P (X + 1) is (X2, y 2), and the longitude and latitude of the node P (X + 2) is (X3, y 3).
In an electronic map, usually, the due north direction is taken as a reference direction, and then, taking the due north direction as a target direction, the current node as a node P (X + 1), and the previous node as a node P (X) as an example, a direction angle of the current node, i.e., the node P (X + 1), is introduced.
And adding a negative number of longitude values of the node P (X), namely-X1, to longitude values of the node P (X) and the node P (X + 1) to enable the longitude value of the node P (X) to be 0, and obtaining undetermined longitude values of the node P (X + 1), namely X2-X1.
In order to make the obtained direction angle be between 0 and 360 degrees and facilitate subsequent calculation, the undetermined longitude value of the node P (X + 1) needs to be judged to obtain the final longitude value of the node P (X + 1).
If the undetermined longitude value of the node P (X + 1) is larger than 180 degrees, subtracting the longitude value of 360 degrees from the undetermined longitude value of the node P (X + 1) to be used as the final longitude value of the node P (X + 1);
if the undetermined longitude value of the node P (X + 1) is smaller than minus 180 degrees, adding a longitude value of 360 degrees to the undetermined longitude value of the node P (X + 1) to be used as a final longitude value of the node P (X + 1);
and if the pending longitude value of the node P (X + 1) belongs to-180 to 180 degrees, taking the pending longitude value of the node P (X + 1) as the final longitude value of the node P (X + 1).
Based on the above calculation, the new longitude and latitude of the node P (X) is (0, y 1), and the new longitude and latitude of the node P (X + 1) is (X2', y 2). And calculating according to an arc tangent angle formula to obtain a conversion angle r (X + 1) = arctan [ X2'/(y 2-y 1) ] of the node P (X + 1), wherein the conversion angle r (X + 1) is between-90 and 90 degrees.
Then, the direction angle of the node P (X + 1) is obtained from the converted angle r (X + 1) of the node P (X + 1).
If y2-y1=0 and X2' >0, the direction angle d (X + 1) of the node P (X + 1) is 90 degrees;
if X2' >0 and r (X + 1) <0, the direction angle d (X + 1) of the node P (X + 1) is r (X + 1);
if X2' >0 and r (X + 1) <0, then the direction angle d (X + 1) of node P (X + 1) is 180+ r (X + 1);
if X2' <0 and r (X + 1) >0, the direction angle d (X + 1) of the node P (X + 1) is 360-r (X + 1);
if X2' <0 and r (X + 1) <0, the direction angle d (X + 1) of the node P (X + 1) is 180-r (X + 1).
By the above calculation, the direction angle d (X + 1) of the node P (X + 1) can be obtained.
It is understood that, based on the longitude and latitude of the node P (X + 1) and the node P (X + 2), the direction angle d (X + 2) of the node P (X + 2) can be obtained by calculating the direction angle of the node P (X + 2) similarly. I.e. the direction angle of each node can be derived.
And S204-3, obtaining the deflection angle of each track line segment according to the direction angles of the head node and the tail node of each track line segment.
It will be appreciated that the yaw angle of a track segment represents the angle of yaw of the current track segment relative to the previous track segment. The deflection angle of the track line segment can be obtained according to the difference of the direction angles of the head node and the tail node on the track line segment.
As shown in fig. 5, two trajectory line segments K (X + 1) and K (X + 2) are included, the trajectory line segment K (X + 1) includes a head node P (X) and a tail node P (X + 1), and the trajectory line segment K (X + 2) includes a head node P (X + 1) and a tail node P (X + 2).
And obtaining the deflection angle of the current track line segment K (X + 2) relative to the previous track line segment K (X + 1) according to the direction angles of the first node P (X + 1) and the tail node P (X + 2) on the current track line segment K (X + 2).
The direction angle of the leading node P (X + 1) is d (X + 1), and the direction angle d (X + 2) of the trailing node P (X + 2).
If | D (X + 2) -D (X + 1) | <180 °, then the deflection angle D (X + 2) = | D (X + 2) -D (X + 1) | for the trajectory segment K (X + 2);
if | D (X + 2) -D (X + 1) | > =180 °, the deflection angle D (X + 2) =360- | D (X + 2) -D (X + 1) | of the trajectory segment K (X + 2).
Based on the calculation, the deflection angle of each track line segment can be obtained according to the direction angles of the two nodes on each track line segment, and the angle range of each deflection angle is 0-180 degrees.
Referring to the preset association relationship in step S206, an embodiment of the present invention provides a possible implementation manner for obtaining the preset association relationship, please refer to fig. 6, and fig. 6 is a flowchart illustrating a trajectory display method according to an embodiment of the present invention.
Step 212, obtaining a preset speed of each preset angle range according to the initial speed and preset parameters of each preset angle range;
it is understood that the preset association relationship may include a plurality of preset angle ranges. And a preset upper limit value and a preset parameter for each preset angle range.
Each node includes the same initial velocity. This initial speed may be a default value in a constant speed playback track line mode.
Alternatively, the predetermined speed for each preset angle range may be derived based on the initial speed and preset parameters for each preset angle range. Multiple preset angular ranges may be used to represent paths of different degrees of curvature.
And 214, taking the smaller of the preset upper limit speed and the preset speed of each preset angle range as the target speed corresponding to each preset angle range.
It will be appreciated that a plurality of predetermined angular ranges may be used to represent paths of different degrees of curvature. And aiming at empirical detection, obtaining the speed of the vehicle when the vehicle passes through paths with different bending degrees, wherein the speed is the preset upper limit speed.
Optionally, for each preset angle range, the preset upper limit speed of the preset angle range is compared with the preset speed, and the smaller one of the two is used as the target speed of the preset angle range, so that the target speed corresponding to each preset angle range can be obtained, and the preset association relationship is obtained.
As shown in fig. 7, a preset association relationship provided in the embodiment of the present invention is shown. Wherein the initial velocity is V, the predetermined correlation includes a plurality of predetermined angular ranges, [0 °,20 ° ], (20 °,50 °), [50 °,70 °), [70 °,90 °), and [90 °,180 ° ], and the predetermined parameters and the predetermined upper limit velocities of the plurality of predetermined angular ranges are, respectively, 1 and V, 3/4 and 40km/h, 1/2 and 30km/h, 1/4 and 20km/h, and 0. It should be noted that, based on experience, the deflection angle of the track line segment is less than 20 degrees, and the running speed of the vehicle may be an initial speed; the yaw angle of the trajectory segment is greater than 90 degrees, and the traveling speed of the vehicle may be 0.
Based on the preset association relationship shown in fig. 8, the embodiment of the present invention provides a possible implementation manner for step S206. Referring to fig. 8, step S206 may include the following steps:
step S206-1, determining a preset angle range to which the deflection angle of each track line segment belongs from a plurality of preset angle ranges;
optionally, for each track segment, a preset angle range to which the deflection angle belongs may be determined from a plurality of preset angle ranges according to the deflection angle of the track segment.
And S206-3, obtaining the target speed of each track line segment according to the target speed corresponding to the preset angle range to which each deflection angle belongs.
Optionally, for each track line segment, the target speed corresponding to the preset angle range to which the deflection angle of the track line segment belongs is used as the target speed of the track line segment, so as to obtain the target speed of each track line segment.
Optionally, the preset association relationship shown in fig. 7 may further include a priority corresponding to each preset angle range. An embodiment of the present invention provides another preset association relationship, as shown in fig. 9, where each preset angle range has a corresponding priority, the priority of the preset angle range [90 °,180 ° ] is first, the priority of the preset angle range [70 °,90 °) is second, the priority of the preset angle range [50 °,70 °) is third, and the priority of the preset angle range (20 °,50 °) is fourth, and the priority of the preset angle range [0 °,20 ° ] is fifth. One level is the highest priority and five levels are the lowest priority.
Based on the preset association relationship shown in fig. 9, the implementation of the present invention provides a possible implementation manner for the step S208. Please refer to fig. 10, wherein. Step S208 may include the steps of:
step S208-1, obtaining a priority corresponding to each track segment according to a preset angle range to which the deflection angle of each track segment belongs;
optionally, each preset angle range has a corresponding priority. For each trajectory segment, the priority corresponding to the preset angle range to which the deflection angle of the trajectory segment belongs may be used as the corresponding priority of the trajectory segment, so as to obtain the priority of each trajectory segment.
S208-3, acquiring the target speeds of all track line segments corresponding to any one target priority according to the sequence of the priorities from high to low;
alternatively, the instantaneous speeds of all nodes on the trajectory line may be obtained by calculating based on the target speed of the trajectory line segment corresponding to each priority in the order from high to low in priority. It will be appreciated that the manner of calculating the target velocity based on the trajectory segment corresponding to each priority is similar.
For example, the highest priority, i.e., one level, i.e., the trajectory line segment whose deflection angle belongs to the preset angle range [90 °,180 ° ] is calculated first, based on the target speed of the trajectory line segment. And then sequentially executing similar calculation modes on a track line segment with a deflection angle belonging to a preset angle range [70 degrees and 90 degrees ], a track line segment with a deflection angle belonging to a preset angle range [50 degrees and 70 degrees ], a track line segment with a deflection angle belonging to a preset angle range (20 degrees and 50 degrees), and a track line segment with a deflection angle belonging to a preset angle range [0 degrees and 20 degrees ], so as to obtain the instantaneous speeds of all nodes on the track line.
It should be noted that, for a track line segment whose deflection angle belongs to the preset angle range [0 °,20 ° ], since the deflection angle of the track line segment is small, it can be considered that the vehicle is running on a straight line, the instantaneous speed of the node on the track line segment can adopt the initial speed, and the step of calculating based on the target speed may not be executed.
Step S208-5, obtaining the instantaneous speed of the node on each track line segment corresponding to the target priority according to the target speeds of all track line segments corresponding to the target priority;
step S208-7, calculating the instantaneous speed of the adjacent node according to the instantaneous speed of the node on each track line segment corresponding to the target priority;
optionally, for any one target priority, the target speeds of all the trajectory line segments corresponding to the target priority are the same, and the target speed may be used as the instantaneous speed of the node on each trajectory line segment corresponding to the target priority.
As shown in fig. 5, taking as an example that the deflection angle of the trajectory line segment K (X + 2) falls within the preset angle range [90 °,180 ° ], the target speed of the trajectory line segment K (X + 2), that is, 0, may be used as the instantaneous speed of the first node P (X + 1) of the trajectory line segment K (X + 2).
It means that when the vehicle travels from the trajectory segment K (X + 1) to the trajectory segment K (X + 2), passing through the node P (X + 1), since the degree of curvature between the two trajectory segments is greater than 90 degrees, it can be considered that the instantaneous speed of the vehicle passing through the node P (X + 1) is 0.
It will be appreciated that a vehicle will typically move with a uniform speed when traveling a path that has a curvature, i.e. is not straight. In order to enable the track display to be closer to the actual driving condition of the vehicle, the instantaneous speeds of the front node and the rear node adjacent to the turning point can be calculated according to the instantaneous speed of the turning point on the bending path so as to restore the uniform speed change motion process of the vehicle.
For example, the velocity of the node adjacent to the node P (X + 1) may be calculated from the instantaneous velocity of the node P (X + 1).
Alternatively, the target speeds of all the trajectory line segments corresponding to the target priority may be used as the instantaneous speed of the first node on each trajectory line segment corresponding to the target priority. For each head node, the instantaneous speed of the node adjacent to the head node can be calculated according to the instantaneous speed of the head node.
And S208-9, traversing each priority to obtain the instantaneous speed of each node.
Alternatively, the steps S208-5 and S208-7 are repeatedly performed for all trajectory segments corresponding to each priority level according to the order of the priority levels from high to low, and the instantaneous speed of each node can be obtained. It can be understood that, for a track line segment with the lowest priority, i.e., a deflection angle, belonging to a preset angle range of [0 °,20 ° ], since the deflection angle of the track line segment is small, it can be considered that the vehicle is traveling on a straight line, and the instantaneous speed of a node on the track line segment can adopt an initial speed.
With respect to the step S208-7, the embodiment of the present invention provides a possible implementation manner. Referring to fig. 11, step S208-7 may include the following steps:
s208-7-2, aiming at a target node on any one track line segment, acquiring the length of each track line segment formed by W nodes adjacent to the target node to obtain the total length of the target track line segment;
the target track line segment is a track line segment formed by a target node and W nodes;
as shown in fig. 12, taking node P (X + 1) as the target node, W is 3, and the length of each trace segment is equal.
The 3 nodes adjacent to the node P (X + 1) are obtained, which may be 3 adjacent nodes in front of the target node, i.e., the node P (X), the node P (X-1) and the node P (X-2), or 3 adjacent nodes behind the target node, i.e., the node P (X + 2), the node P (X + 3) and the node P (X + 4).
It can be understood that the target node is a turning point, the instantaneous speeds of the adjacent nodes corresponding to the front and back sides of the target node are the same, that is, the instantaneous speeds of the node P (X) and the node P (X + 2) are the same, the instantaneous speeds of the node P (X-1) and the node P (X + 3) are the same, and the instantaneous speeds of the node P (X-2) and the node P (X + 4) are the same.
The following description will be given by taking an example of calculating the instantaneous speeds of the following 3 nodes, that is, node P (X + 2), node P (X + 3), and node P (X + 4).
The target track line segment is the track line segment of the node P (X + 1) and the node P (X + 4), and the length of the target track line segment is obtained.
S208-7-4, obtaining the acceleration of the target track line segment according to the initial speed, the instantaneous speed of the target node, the total length of the target track line segment and a first preset formula; the first predetermined formula is:
wherein, V c Represents an initial speed; v m Representing the instantaneous speed of the target node; l represents the total length of the target trajectory segment; a represents the acceleration of the target trajectory segment;
for example, the instantaneous speed of the node P (X + 4) is the initial speed V c The V is c Taking the instantaneous velocity V of V, node P (X) m And L is the total length of a target track segment, which is a track segment of the node P (X + 1) and the node P (X + 4), and the acceleration a of the target track segment can be obtained based on a first preset formula.
S208-7-6, obtaining the instantaneous speed of each adjacent node according to the acceleration of the target track line segment, the instantaneous speed of the target node, the length of each track line segment formed by the W nodes and a second preset formula;
the second predetermined formula is:
wherein a represents the acceleration of the target trajectory segment; v m Representing the instantaneous speed of the target node; s. the w Representing the length of a track line segment formed by the w-th node and the target node; v w Representing the instantaneous speed of the w-th node; w is a positive integer less than or equal to W.
For example, after the acceleration of the target trajectory segment is obtained, the instantaneous velocity of any one of the W nodes may be calculated.
For node P (X + 2), which is the 1 st node adjacent to the target node P (X + 1), S w For example, the length of the trajectory segment between node P (X + 1) and node P (X + 2). Instantaneous speed V based on target node P (X + 1) m And the acceleration a of the target track line segment, and the instantaneous speed of the node P (X + 2) can be obtained as
Namely that
The instantaneous speed of the node P (X) is
The instantaneous speed of the node P (X + 3) is calculated in a manner similar to the manner of calculating the instantaneous speed of the node P (X + 2), and the instantaneous speed of the node P (X + 3) can be obtained as
Namely that
Optionally, based on the instantaneous speed of the target node, the instantaneous speed of the w-th node adjacent to the target node may be obtained as
With respect to the step S210, the embodiment of the present invention provides a possible implementation manner. Referring to fig. 13, step S210 may include the following steps:
step S210-1, obtaining the acceleration of each track segment according to the instantaneous speed of each node and the length of each track segment;
optionally, after the instantaneous speed of each node on the trajectory line is obtained, for each trajectory line segment, the acceleration of the trajectory line segment is calculated according to the length of the trajectory line segment and the instantaneous speeds of the head node and the tail node on the trajectory line segment, so as to obtain the acceleration of each trajectory line segment.
As shown in FIG. 5, for the trajectory segment K (X + 1), the instantaneous velocity V of the head node P (X) is obtained X The instantaneous velocity of the tail node P (X + 1) is V X+1 The acceleration of the track line segment K (X + 1) can be obtained according to an acceleration formula
S represents the length of the trajectory segment K (X + 1).
Step S210-3, obtaining the running time of each track according to the acceleration of each track segment and the instantaneous speed of the node on each track segment;
optionally, for each track segment, the running time of the track segment may be obtained according to the acceleration of the track segment and the instantaneous speeds of the head node and the tail node on the track segment, so as to obtain the running time of each track segment.
As shown in FIG. 5, for the trajectory segment K (X + 1), the instantaneous speed of the first node P (X) is V X The instantaneous velocity of the tail node P (X + 1) is V X+1 The acceleration is a (X + 1), and the travel time T (X + 1) = (V) of the trajectory segment K (X + 1) can be obtained from the time equation X+1 -V X )/a。
Step S210-5, obtaining a corresponding relation between each display period and a track position point according to the instantaneous speed of each node, the acceleration and the running time of each line segment and a preset display period;
for example, the preset presentation period is t, N represents the current nth presentation period, and N × t represents the total duration of the current presentation; distance (tal), whose initial value is 0, represents the length of the currently presented trajectory line.
Assuming that there are n +1 nodes, i.e., P0 and P1 … Pn, the instantaneous speeds of the nodes on the trajectory are V0 and V1 … Vn in this order, the accelerations of the trajectory segment on the trajectory are a1 and a2 … an in this order, and the travel times of the trajectory segment on the trajectory are T1 and T2 … Tn in this order.
The length distance of the currently presented trajectory line can be obtained in relation to the currently presented total duration N x t.
When the node P0 and the node P1 are operated, the total time length N T currently displayed is less than or equal to T1, and distance (tal) = distance1= distance0+ V0T + a1T 2 /2，distance0＝0；
When the node is operated between the node P1 and the node P2, the total time length N T currently displayed is less than or equal to T1+ T2, and distance (tal) = distance2= distance1+ V1T + a2T 2 /2；
When the current display time length N T is less than or equal to T1+ T2+ … Tn, distance (tal) = distance N = distance N-1+V when the current display time length is operated between the node Pn-1 and the node Pn n-1 *t+ant 2 /2。
Based on the calculation mode, the length of the track driven by the vehicle in each display period can be obtained. Then, the length L of the track line is obtained, and based on distance (tal)/L, the track position point P corresponding to the vehicle on the track line in each display period can be obtained t 。
Optionally, if there are more nodes doing uniform motion on the trajectory line, such trajectory line segment with acceleration of 0 is obtained, and when the trajectory line segment is calculated, the calculation can be performed based on the instantaneous speed and the display period extreme without using the acceleration.
And step S210-7, displaying the track line according to the corresponding relation.
Optionally, the track line is displayed according to the corresponding relation between each display period and the track position point, the running speed of the vehicle passing through the paths with different bending degrees can be simulated, the track route of the vehicle can be better displayed, and the display effect is improved.
In order to perform the corresponding steps in the above embodiments and various possible manners, an implementation manner of the trajectory display device is given below. Referring to fig. 14, fig. 14 is a functional block diagram of a track displaying apparatus 300 according to an embodiment of the present invention. It should be noted that the basic principle and the generated technical effects of the track displaying apparatus 300 provided in the present embodiment are the same as those of the above embodiments, and for the sake of brief description, no part of the present embodiment is mentioned, and reference may be made to the corresponding contents in the above embodiments. The trajectory display device 300 includes:
an obtaining module 310 for obtaining a trajectory line comprising a plurality of nodes and a plurality of trajectory line segments; each node comprises longitude and latitude, and each two adjacent nodes form a track line segment;
the conversion module 330 is configured to obtain a deflection angle of each track line segment according to the longitude and latitude of each node;
the processing module 350 is configured to obtain a target speed of each track segment according to the deflection angle of each track segment and a preset association relationship; each deflection angle has a preset angle range; the preset incidence relation represents the relation between a preset angle range and a target speed;
a calculating module 370, configured to obtain an instantaneous speed of each node according to the target speed of each track segment;
a demonstration module 390 for demonstrating the trajectory line based on the instantaneous velocity of each node.
Optionally, the conversion module 330 is specifically configured to: aiming at each node, obtaining a direction angle of the current node according to the longitude and latitude of the current node and the longitude and latitude of the previous node to obtain the direction angle of each node; and obtaining the deflection angle of each track line segment according to the direction angles of the head node and the tail node on each track line segment.
Optionally, the processing module 350 is further configured to: obtaining a preset speed of each preset angle range according to the initial speed and preset parameters of each preset angle range; and taking the smaller of the preset upper limit speed and the preset speed of each preset angle range as the target speed corresponding to each preset angle range.
Optionally, the processing module 350 is specifically configured to: determining a preset angle range to which the deflection angle of each track line segment belongs from a plurality of preset angle ranges; and obtaining the target speed of each track line segment according to the target speed corresponding to the preset angle range to which each deflection angle belongs.
Optionally, the calculating module 370 is specifically configured to: obtaining the priority corresponding to each track line segment according to the preset angle range to which the deflection angle of each track line segment belongs; acquiring the target speeds of all track line segments corresponding to any one target priority according to the sequence of the priorities from high to low; obtaining the instantaneous speed of a node on each track line segment corresponding to the target priority according to the target speeds of all track line segments corresponding to the target priority; calculating the instantaneous speed of the adjacent node according to the instantaneous speed of the node on each track line segment corresponding to the target priority; and traversing each priority to obtain the instantaneous speed of each node.
Optionally, the calculation module 370 is further configured to: aiming at a target node on any one track line segment, acquiring the length of each track line segment formed by W nodes adjacent to the target node to obtain the total length of the target track line segment; the target track line segment is a track line segment formed by a target node and W nodes;
obtaining the acceleration of the target track line segment according to the initial speed, the instantaneous speed of the target node, the total length of the target track line segment and a first preset formula; the first predetermined formula is:
wherein, V c Represents an initial speed; v m Representing the instantaneous speed of the target node; l represents the total length of the target trajectory segment; a represents the acceleration of the target trajectory segment;
obtaining the instantaneous speed of each adjacent node according to the acceleration of the target track line segment, the instantaneous speed of the target node, the length of each track line segment formed by the W nodes and a second preset formula; the second predetermined formula is:
wherein a represents the acceleration of the target trajectory segment; v m Representing the instantaneous speed of the target node; s w Representing the length of a track line segment formed by the w-th node and the target node; v w Represents the instantaneous speed of the w-th node; w is a positive integer less than or equal to W.
Optionally, the display module 390 is specifically configured to: obtaining the acceleration of each track line segment according to the instantaneous speed of each node and the length of each track line segment; obtaining the running time of each track according to the acceleration of each track segment and the instantaneous speed of the node on each track segment; obtaining a corresponding relation between each display period and a track position point according to the instantaneous speed of each node, the acceleration and the running time of each line segment and a preset display period; and displaying the trajectory line according to the corresponding relation.
The embodiment of the present invention further provides an electronic device, which includes a processor 120 and a memory 130, where the memory 130 stores a computer program, and when the processor executes the computer program, the trajectory display method disclosed in the foregoing embodiment is implemented.
The embodiment of the present invention further provides a storage medium, on which a computer program is stored, and when the computer program is executed by the processor 120, the trajectory display method disclosed in the embodiment of the present invention is implemented.
In summary, the track display method and apparatus, the electronic device, and the storage medium provided in the embodiments of the present invention are provided. Firstly, obtaining a track line comprising a plurality of nodes and a plurality of track line segments, wherein every two adjacent nodes form one track line segment, and each node comprises longitude and latitude; then, according to the longitude and latitude of each node, obtaining the deflection angle of each track line segment, wherein the deflection angle of each track line segment has a preset angle range, and the target speed of each track line segment can be obtained based on a preset incidence relation, namely the relation between the preset angle range and the target speed; then obtaining the instantaneous speed of each node according to the target speed of each track segment; and finally, displaying the trajectory line according to the instantaneous speed of each node. The trajectory line is displayed based on the speeds of different nodes on the trajectory line, so that non-uniform display of the trajectory line can be realized, intelligent display of the trajectory line is realized, the trajectory line can be closer to and more real with the actual driving condition of a vehicle, and the display effect is improved. Moreover, the movement speed of the object can be automatically simulated based on the trend of the track line, the effect of automatic uniform speed change of the object is shown, the track line can show that the change of the speed of the object is smoother, the flexibility is high, and the method can be applied to various scenes.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A trajectory display method, characterized in that the method comprises:
obtaining a trajectory line comprising a plurality of nodes and a plurality of trajectory line segments; each node comprises longitude and latitude, and each two adjacent nodes form one track line segment;
obtaining the deflection angle of each track line segment according to the longitude and latitude of each node;
obtaining a target speed of each track segment according to the deflection angle of each track segment and a preset association relation; each deflection angle has a preset angle range; the preset incidence relation represents the relation between a preset angle range and a target speed;
obtaining the instantaneous speed of each node according to the target speed of each track line segment;
displaying the trajectory line according to the instantaneous speed of each node;
each of the nodes comprises the same initial speed; the preset incidence relation comprises a plurality of preset angle ranges and preset upper limit speed and preset parameters of each preset angle range;
the preset incidence relation is obtained according to the following mode:
obtaining a preset speed of each preset angle range according to the initial speed and preset parameters of each preset angle range;
taking the smaller of the preset upper limit speed and the preset speed of each preset angle range as a target speed corresponding to each preset angle range to obtain a preset incidence relation;
the preset incidence relation also comprises the priority corresponding to each preset angle range;
the step of obtaining the instantaneous speed of each node according to the target speed corresponding to each track line segment comprises the following steps:
obtaining a priority corresponding to each track line segment according to a preset angle range to which the deflection angle of each track line segment belongs;
acquiring target speeds of all track line segments corresponding to any one target priority according to the sequence of the priorities from high to low;
obtaining the instantaneous speed of a node on each track line segment corresponding to the target priority according to the target speeds of all track line segments corresponding to the target priority;
calculating the instantaneous speed of the adjacent node according to the instantaneous speed of the node on each track line segment corresponding to the target priority;
and traversing each priority to obtain the instantaneous speed of each node.
2. The method of claim 1, wherein said step of deriving a yaw angle for each of said trajectory segments based on the longitude and latitude of each of said nodes comprises:
aiming at each node, obtaining a direction angle of the current node according to the longitude and latitude of the current node and the longitude and latitude of the previous node to obtain the direction angle of each node;
and obtaining the deflection angle of each track line segment according to the direction angles of the head node and the tail node on each track line segment.
3. The method of claim 1, wherein the step of obtaining the target speed of each track segment according to the yaw angle of each track segment and a preset correlation comprises:
determining a preset angle range to which the deflection angle of each track line segment belongs from the plurality of preset angle ranges;
and obtaining the target speed of each track line segment according to the target speed corresponding to the preset angle range to which each deflection angle belongs.
4. The method of claim 1, wherein the step of calculating the instantaneous velocity of the neighboring node according to the instantaneous velocity of the node on each trajectory segment corresponding to the target priority comprises:
aiming at a target node on any one track line segment, acquiring the length of each track line segment formed by W nodes adjacent to the target node to obtain the total length of the target track line segment; the target track line segment is a track line segment formed by the target node and the W nodes;
obtaining the acceleration of the target track line segment according to the initial speed, the instantaneous speed of the target node, the total length of the target track line segment and a first preset formula; the first preset formula is as follows:
wherein, V c Represents an initial speed; v m Representing the instantaneous speed of the target node; l representsThe total length of the target trajectory segment; a represents the acceleration of the target trajectory segment;
obtaining the instantaneous speed of each adjacent node according to the acceleration of the target track line segment, the instantaneous speed of the target node, the length of each track line segment formed by the W nodes and a second preset formula; the second preset formula is as follows:
wherein a represents the acceleration of the target trajectory segment; v m Representing the instantaneous speed of the target node; s w Representing the length of a track line segment formed by the w-th node and the target node; v w Representing the instantaneous speed of the w-th node; w is a positive integer less than or equal to W.
5. The method of claim 1, wherein each of the trajectory line segments comprises a length; said step of presenting said trajectory line as a function of the instantaneous speed of each of said nodes, comprising:
obtaining the acceleration of each track line segment according to the instantaneous speed of each node and the length of each track line segment;
obtaining the running time of each track according to the acceleration of each track line segment and the instantaneous speed of a node on each track line segment;
obtaining a corresponding relation between each display period and a track position point according to the instantaneous speed of each node, the acceleration and the running time of each line segment and a preset display period;
and displaying the trajectory line according to the corresponding relation.
6. A track display apparatus, the apparatus comprising:
an acquisition module for acquiring a trajectory line comprising a plurality of nodes and a plurality of trajectory line segments; each node comprises longitude and latitude, and each two adjacent nodes form one track line segment;
the conversion module is used for obtaining the deflection angle of each track line segment according to the longitude and latitude of each node;
the processing module is used for obtaining the target speed of each track line segment according to the deflection angle of each track line segment and a preset incidence relation; each deflection angle has a preset angle range; the preset incidence relation represents the relation between a preset angle range and a target speed;
the calculation module is used for obtaining the instantaneous speed of each node according to the target speed of each track line segment;
a display module for displaying the trajectory line according to the instantaneous speed of each node;
each of the nodes comprises the same initial speed; the preset incidence relation comprises a plurality of preset angle ranges, and a preset upper limit speed and preset parameters of each preset angle range; the processing module is further configured to: obtaining a preset speed of each preset angle range according to the initial speed and preset parameters of each preset angle range; taking the smaller of the preset upper limit speed and the preset speed of each preset angle range as a target speed corresponding to each preset angle range to obtain a preset incidence relation;
the preset incidence relation also comprises the priority corresponding to each preset angle range; the calculation module is specifically configured to: obtaining the priority corresponding to each track line segment according to the preset angle range to which the deflection angle of each track line segment belongs; acquiring target speeds of all track line segments corresponding to any one target priority according to the sequence of the priorities from high to low; obtaining the instantaneous speed of a node on each track line segment corresponding to the target priority according to the target speeds of all track line segments corresponding to the target priority; calculating the instantaneous speed of the adjacent node according to the instantaneous speed of the node on each track line segment corresponding to the target priority; and traversing each priority to obtain the instantaneous speed of each node.
7. An electronic device, comprising a processor and a memory, the memory storing a computer program that, when executed by the processor, implements the method of any of claims 1 to 5.
8. A storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed by a processor, implements the method of any one of claims 1 to 5.
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| US9146299B2 (en) * | 2013-08-06 | 2015-09-29 | Qualcomm Incorporated | Method and apparatus for position estimation using trajectory |
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