CN114323060A - Distance determination method and device - Google Patents
Distance determination method and device Download PDFInfo
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- CN114323060A CN114323060A CN202111598190.8A CN202111598190A CN114323060A CN 114323060 A CN114323060 A CN 114323060A CN 202111598190 A CN202111598190 A CN 202111598190A CN 114323060 A CN114323060 A CN 114323060A
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Abstract
The disclosure provides a distance determination method, a distance determination device, distance determination equipment, storage media and a computer program product, relates to the technical field of artificial intelligence, in particular to the technical field of intelligent transportation, and can be applied to scenes such as distance determination. The specific implementation scheme is as follows: acquiring planning path information from an origin to a destination; determining an actual position of the vehicle in the planned path based on the planned path information and the positioning information of the vehicle; acquiring a calculated position corresponding to the actual position; based on the calculated position, a distance between the vehicle and the destination is calculated. The distance between the vehicle and the destination in the driving process can be automatically calculated, the distance determining efficiency is improved, the vehicle is not limited by the driving state of the vehicle, and the user experience is improved.
Description
Technical Field
The present disclosure relates to the field of artificial intelligence technologies, and in particular, to the field of intelligent transportation technologies, which can be applied to scenes such as distance determination, and in particular, to a method, an apparatus, a device, a storage medium, and a computer program product for distance determination.
Background
When the distance of an existing vehicle is determined, the information of a station needs to be manually clicked to confirm the travel information of the vehicle, such as the current station, the remaining distance from the next station and the like, so that the flexibility is insufficient, and the efficiency is low.
Disclosure of Invention
The present disclosure provides a distance determination method, apparatus, device, storage medium, and computer program product, which improve distance determination efficiency.
According to an aspect of the present disclosure, there is provided a distance determination method including: acquiring planning path information from an origin to a destination; determining an actual position of the vehicle in the planned path based on the planned path information and the positioning information of the vehicle; acquiring a calculated position corresponding to the actual position; based on the calculated position, a distance between the vehicle and the destination is calculated.
According to another aspect of the present disclosure, there is provided a distance determining apparatus including: a first acquisition module configured to acquire planned path information from an origin to a destination; a determination module configured to determine an actual position of the vehicle in the planned path based on the planned path information and the positioning information of the vehicle; a second acquisition module configured to acquire a calculated position corresponding to the actual position; a calculation module configured to calculate a distance between the vehicle and the destination based on the calculated position.
According to still another aspect of the present disclosure, there is provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the distance determination method.
According to yet another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the distance determining method.
According to yet another aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the distance determination method described above.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 is an exemplary system architecture diagram in which the present disclosure may be applied;
FIG. 2 is a flow diagram of one embodiment of a distance determination method according to the present disclosure;
FIG. 3 is a flow diagram of another embodiment of a distance determination method according to the present disclosure;
4(a), 4(b), 4(c) are schematic diagrams of determining actual position in a uni-directional travel segment according to the present disclosure;
FIG. 5 is a schematic illustration of determining an actual location in a bi-directional travel segment according to the present disclosure;
6(a) and 6(b) are a schematic diagram of calculating a distance between a vehicle and a destination according to the present disclosure;
FIG. 7 is a flow diagram for one embodiment of a distance determining device according to the present disclosure;
fig. 8 is a block diagram of an electronic device for implementing a distance determination method of an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Fig. 1 illustrates an exemplary system architecture 100 to which embodiments of the distance determining method or distance determining apparatus of the present disclosure may be applied.
As shown in fig. 1, the system architecture 100 may include terminal devices 101, 102, 103, a network 104, and a server 105. The network 104 serves as a medium for providing communication links between the terminal devices 101, 102, 103 and the server 105. Network 104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.
The user can use the terminal devices 101, 102, 103 to interact with the server 105 through the network 104 to obtain the distance between the vehicle and the destination, and the like. Various client applications, such as a map application or the like, may be installed on the terminal devices 101, 102, 103.
The terminal apparatuses 101, 102, and 103 may be hardware or software. When the terminal devices 101, 102, 103 are hardware, they may be various electronic devices including, but not limited to, smart phones, tablet computers, laptop portable computers, desktop computers, and the like. When the terminal apparatuses 101, 102, 103 are software, they can be installed in the above-described electronic apparatuses. It may be implemented as multiple pieces of software or software modules, or as a single piece of software or software module. And is not particularly limited herein.
The server 105 may provide various distance determination based services. For example, the server 105 may analyze and process the positioning information acquired from the terminal apparatuses 101, 102, 103, and generate a processing result (e.g., determine a distance between the vehicle and the destination, etc.).
The server 105 may be hardware or software. When the server 105 is hardware, it may be implemented as a distributed server cluster composed of a plurality of servers, or may be implemented as a single server. When the server 105 is software, it may be implemented as multiple pieces of software or software modules (e.g., to provide distributed services), or as a single piece of software or software module. And is not particularly limited herein.
It should be noted that the distance determining method provided by the embodiment of the present disclosure is generally executed by the server 105, and accordingly, the distance determining apparatus is generally disposed in the server 105.
It should be understood that the number of terminal devices, networks, and servers in fig. 1 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
With continued reference to FIG. 2, a flow 200 of one embodiment of a distance determination method according to the present disclosure is shown. The distance determination method comprises the following steps:
In the present embodiment, an execution subject of the distance determination method (e.g., the server 105 shown in fig. 1) may acquire planned path information from an origin to a destination. The origin, i.e. the position where the vehicle starts to run, the destination, i.e. the position where the vehicle stops running, and the planned path information, i.e. the information of the road to be traversed by the vehicle from the origin to the destination, for example, the planned path information may include the road number and the road type to be traversed from the origin to the destination, and the planned path information may include, for example, the G3 road segment to be traversed from the origin to the destination, the road segment is the kyoto high speed, the three westward road segment is to be traversed, and the road segment has 5 traffic lights.
The planned path information may be obtained based on a map of the vehicle itself, and for example, an origin position and a destination position are input in the map of the vehicle itself, and a piece of the planned path information is automatically returned from the map. For example, the starting position and the destination position are input in a map, a plurality of pieces of planned route information are generated from the map, and the map automatically selects one piece of planned route information with the shortest travel time from the generated plurality of pieces of planned route information as a piece of returned planned route information.
In some optional implementations of the embodiment, the planned path information may be obtained from a table stored in advance, for example, the location of the origin, the location of the destination, and the corresponding planned path information may be taken as one line of data, multiple lines of data are stored in the table in advance, after the information of the origin and the destination is obtained, the obtained origin and the obtained destination may be compared with the origin and the destination in the table, and the planned path information corresponding to the successfully matched origin and destination may be obtained from the table.
In this embodiment, after acquiring the planned route information from the origin to the destination, the executing body may determine the actual position of the vehicle in the planned route based on the planned route information and the positioning information of the vehicle. Specifically, the positioning information of the vehicle may be obtained first, and the vehicle may be an automatic driving vehicle, a manual driving vehicle, or an electric vehicle, which is not limited in this disclosure. The positioning information of the vehicle can be acquired based on the vehicle-mounted positioning system, for example, a request for acquiring the positioning information of the vehicle can be sent to the vehicle-mounted positioning system, and the positioning information returned by the positioning system is received, where the positioning information may be latitude and longitude information of the current position.
After the positioning information is obtained, the positioning information may be compared with the obtained planned route information, for example, the longitude and latitude information of each road in the planned route information may be calculated based on the information of the map in which the planned route information is generated and the relative position of each road in the planned route information in the map, the positioning information may be compared with the longitude and latitude information of each road in the planned route information, if the positioning information is within the longitude and latitude range included in the planned route information, it may be further determined which road in the planned route information the positioning information is in, if the positioning information is outside the longitude and latitude range included in the planned route information, it may be obtained which longitude and latitude information is closest to the positioning information from the longitude and latitude range included in the planned route information, and based on the closest longitude and latitude information, it may be further determined which road in the planned route information the positioning information is in, and taking the determined road as the actual position of the vehicle in the planned path.
In this embodiment, after acquiring the actual position of the vehicle in the planned path, the executing body may acquire a calculated position corresponding to the actual position. Specifically, a plurality of calculation positions may be determined in the planned path in advance, and for example, one calculation position may be determined every 10 meters from the beginning, the distance between the actual position and each calculation position is calculated, and the calculation position with the smallest distance is determined as the calculation position corresponding to the actual position.
And step 204, calculating the distance between the vehicle and the destination based on the calculated position.
In this embodiment, the executing body may calculate the distance between the vehicle and the destination based on the calculated position after obtaining the calculated position. Specifically, the distance from the calculated position to the destination may be directly calculated as the distance between the vehicle and the destination.
According to the distance determining method provided by the embodiment of the disclosure, firstly, planned path information from a starting place to a destination is obtained, then, an actual position of a vehicle in the planned path is determined based on the planned path information and positioning information of the vehicle, then, a calculated position corresponding to the actual position is obtained, and finally, the distance between the vehicle and the destination is calculated based on the calculated position. The distance between the vehicle and the destination can be obtained in real time based on the method, the distance determining efficiency is improved, the method is not influenced by the driving state, the calculation is convenient, and the user experience is improved.
With further continued reference to fig. 3, a flow 300 of another embodiment of a distance determination method according to the present disclosure is shown. The distance determination method comprises the following steps:
and 301, acquiring the planned path information from the starting place to the destination.
In this embodiment, the specific operation of step 301 has been described in detail in step 201 in the embodiment shown in fig. 2, and is not described herein again.
It should be noted that the planned path information may include at least one of lane line information, road level information, traffic direction information, and a total length of the planned path. Where the lane line information is the number of lanes separated by lane lines in the planned path from the origin to the destination, the number of lanes may vary, and the planned path information includes, for example, four lanes in the first road segment and two lanes in the second road segment. The road-level information is a road relationship in the physical world, and the planned route information includes, for example, a straight road section in the first road section, a turning road section in the second road section, which is connected to the first road section and the third road section, and a straight road section in the third road section. The traffic direction information refers to a planned traffic direction of each lane, and for example, the planned path information includes that the first road section is an east-west road section, the traffic directions of the first lane and the second lane are from east to west, the traffic directions of the third lane and the fourth lane are from west to east, and the second road section is an east-west road section, wherein the traffic direction of the first lane is from east to west, and the traffic direction of the second lane is from west to east. The total length of the planned path, that is, the total length of the road segment to be traversed by the planned vehicle from the origin to the destination, may be in meters or kilometers, and this disclosure does not limit this.
In this embodiment, after obtaining the planned path information, the executing body may determine the actual position based on the positioning information of the vehicle and a spatial relationship between a plurality of segment positions adjacent to the positioning information in the planned path. Specifically, the positioning information of the vehicle may be obtained first, and the specific operation of obtaining the positioning information is described in detail in step 202 in the embodiment shown in fig. 2, and is not described herein again.
After the positioning information is obtained, a plurality of segment positions adjacent to the positioning information in the planned path may be determined, wherein the planned path may be divided into a plurality of segments in advance, a midpoint of a segment line between any two adjacent segments may be obtained as a plurality of segment positions in the planned path, each segment position may be represented by a longitude and a latitude of the position, and after the plurality of segment positions are obtained, the plurality of segment positions may be stored in a segment data set. The longitude and latitude of the positioning information can be compared with the longitude and latitude of each segment position, and a plurality of segment positions which are adjacent to the positioning information in space are obtained and used as a plurality of segment positions which are adjacent to the positioning information in the planning path.
In some optional implementations of this embodiment, the plurality of segment positions may be set by at least one of: determining positions where the number of lanes changes in the planned path as the plurality of segment positions based on lane line information; determining positions where the traffic direction changes in the planned path as the plurality of segment positions based on traffic direction information; and determining the positions of the road trend changes in the planned path as the plurality of segmentation positions based on the road level information. The lane line information is the number of lanes separated by lane lines from a starting point to a destination in a planned path, the number of lanes may be variable, and the position where the number of lanes changes may be determined based on the change position of the lane lines, for example, a line parallel to the road surface and perpendicular to the lane lines may be made at the change position where the lane lines change from four lanes to two lanes, and the midpoint of the line may be taken as a segmentation position to obtain the position where the number of all lanes changes in the planned path, which may be taken as a plurality of segmentation positions. The passing direction information refers to the passing direction planned for each lane, and for example, the planned route information includes that the first road section is an east-west road section, the passing direction of the first and second lanes is from east to west, the passing direction of the third and fourth lanes is from west to east, the second road section is an east-west road section, the passing direction of the first lane is from east to west, the passing direction of the second lane is from west to east, the passing direction of the first and second lanes in the first road section is different from the passing direction of the third and fourth lanes, the first and second lanes in the first road section can be used as one segment, the third and fourth lanes can be used as one segment, a line parallel to the road surface and perpendicular to the lane line can be made at both ends of the first segment, the midpoint of the total width of the first and second lanes of the line can be used as a segment position, the midpoint of the total width of the third and fourth lanes of the line can be used as a segment position, the first lane in the second road section can be used as one section, the second lane can be used as one section, two ends of the second road section can be respectively provided with a line which is parallel to the road surface and vertical to the lane line, the middle point of the total width of the first lane of the line is taken as a segmentation position, the middle point of the total width of the second lane of the line is taken as a segmentation position, and the positions of all the passing directions in the planned path are obtained and can be taken as a plurality of segmentation positions. The road-level information is a road relationship in a physical world, illustratively, the planned path information includes a straight road section at a first road section, a turning road section connected with the first road section and a third road section at a second road section, and a straight road section at a third road section, where the road direction changes, i.e., the direction of the straight road and the direction of the turning road change. Any two of the positions where the number of lanes changes, the positions where the passing direction changes, and the positions where the road direction changes may be determined as a plurality of segment positions, or the positions where the number of all lanes changes, the positions where the passing direction changes, and the positions where the road direction changes may be determined as a plurality of segment positions.
In some optional implementations of this embodiment, the plurality of segment positions may be set by: uniformly dividing the planned path into a plurality of sections; and determining the intersection point position of any two adjacent sections as a plurality of section positions. The planned path can be uniformly divided into a plurality of sections in advance at any uniformly-divided intervals, and the middle point of the intersecting line of any two adjacent sections is determined as a plurality of section positions. The uniform division method can keep the calculation accuracy of any position at the same level.
After obtaining the plurality of segment positions adjacent to the positioning information, the actual position may be determined based on a spatial relationship of the positioning information and the plurality of adjacent segment positions. Specifically, the determining the actual position may be determining which segment of the divided road segment the vehicle is in, if in the one-way driving road segment, comparing the longitude and latitude of the positioning information with the longitude and latitude of two adjacent segment positions before and after the vehicle is in, determining which segment of the divided road segment the vehicle is in, or constructing an angle based on the positioning position and the adjacent segment position in the driving road segment, and determining which segment of the divided road segment the vehicle is in by comparing with an angle threshold. As shown in fig. 4, 4(a), 4(b) and 4(c) showing a schematic diagram of determining an actual position in a one-way travel section according to the present disclosure, it can be seen from fig. 4(a) that in a straight and one-way travel section, point No. 1 is a positioning position, and point No. 2 and point No. 3 are adjacent front and rear two segment positions, and comparing the longitude and latitude of point No. 1 and the longitude and latitude of point No. 2 and point No. 3, it can be determined that the position of point No. 1 is between point No. 2 and point No. 3, and thus it can be determined that the positioning position is in the section between point No. 2 and point No. 3, that is, the actual position of the vehicle is in the second segment section. As can be seen from fig. 4(b), in the curve and one-way driving road section, point 1 is the positioning position, and point 2 and point 3 are two adjacent front and rear segment positions, and comparing the longitude and latitude of point 1 with the longitude and latitude of point 2 and point 3 can determine that the position of point 1 is between point 2 and point 3, and thus can determine that the positioning position is in the road section between point 2 and point 3, i.e. the actual position of the vehicle is in the second segment road section. As can be seen from fig. 4(c), in a curve and one-way driving road section, point 1 can be located, connecting with the adjacent segment position No. 2 point in the running road section, as one side of the construction angle, making a line which connects the positioning position No. 1 point, is parallel to the road surface and is parallel to the north-south direction of the map, as the other side of the construction angle, constructing an angle alpha, the further the vehicle is driven in a path, the smaller the angle alpha, the angle alpha may be compared with a preset angle threshold, which is illustratively 80 deg., and if the angle alpha is too large, that is, if the angle α is greater than the angle threshold, it is determined that the vehicle has not traveled into the second road segment, and at this time it is determined that the actual position of the vehicle is in the first road segment, if the angle α is less than the angle threshold, it is determined that the vehicle has traveled into the second road segment, at which time the actual position of the vehicle is determined to be in the second road segment. As can be seen from the above analysis, there is a certain error in determining the actual position of the vehicle based on the angle comparison in the curved road and the one-way driving road, and therefore, in the curved road and the one-way driving road, the actual position of the vehicle is determined by preferentially considering the comparison between the longitude and latitude of the positioning information and the longitude and latitude of the two adjacent front and rear segment positions.
If in the bidirectional driving road section, an angle can be constructed based on the positioning position and any one of the adjacent segment positions, and the vehicle is determined in which segment of the divided road section by comparing with the angle threshold value, wherein in the bidirectional driving road section, the vehicle is mainly determined in which driving direction. Referring to fig. 5, fig. 5 shows a schematic diagram of determining an actual position in a bidirectional travel route according to the present disclosure, and as can be seen from fig. 5, in a straight and bidirectional travel route, the vehicle travels from right to left in a first section and a second section of a route, passes through a turn, and turns to travel from left to right in a fourth section and a fifth section of a route, point 1 is a positioning position, and point 2, point 3, point 4 and point 5 are adjacent segment positions of the positioning position, an angle may be constructed based on any one of point 1 and any one of point 2, point 3, point 4 and point 5, and exemplarily, an angle may be constructed based on point 1 and point 4, and point 1 of positioning position and point 4 of adjacent segment positions may be connected to each other to form a line connecting point 1 of positioning position, parallel to a road surface, parallel to the north-south direction of a map, as one side of the constructed angle, on the other side of the angle, an angle β is constructed, and if the positioning position is in the fourth segment of the route, the angle β is relatively small, and if the positioning position is in the second segment of the route, the angle β is relatively large, the angle β may be compared with a preset angle threshold, for example, the angle threshold is 40 °, and if the angle β is greater than the angle threshold, the actual position of the vehicle is determined to be in the second segment of the route, and if the angle β is less than the angle threshold, the actual position of the vehicle is determined to be in the fourth segment of the route.
And 303, acquiring a plurality of segmentation positions preset in the planned path.
In this embodiment, the executing body may obtain a plurality of segment positions preset in the planned path. The setting method of the segment position has been described in detail in step 302 in the embodiment shown in fig. 3, and is not described herein again. The set plurality of segment positions are stored in the segment data set, so that the plurality of segment positions set in advance in the planned path can be directly read out from the segment data set.
In this embodiment, the execution main body may further obtain the calculated position after acquiring a plurality of segment positions set in advance. Specifically, a route traveled by the vehicle may be first acquired, and for example, each time the vehicle travels through a route, the route traveled through the route is automatically recorded, so that the recorded information of the traveled route may be directly read, a route traveled from the starting point to the actual position and finally traveled through the route may be acquired, and the last segment position of the route may be determined as the calculated position.
In some optional implementation manners of this embodiment, after the recorded traveled path information is read, the longitude and latitude information of the actual position may be compared with the longitude and latitude information of each segment position included in the traveled path, and a segment position closest to the actual position may be determined as the calculated position.
In this embodiment, the execution agent may obtain the last stored actual location from the result dataset. After a new distance from the destination is calculated each time, the determined actual position and the corresponding distance are used as a piece of data and stored in the result data set, and each piece of data in the result data set is sequentially stored according to the time sequence, so that the actual position in the piece of data with the closest time can be directly read from the result data set and is the last stored actual position.
In this embodiment, after obtaining the last stored actual position, the execution main body may compare the actual position obtained this time with the last stored actual position in the result data set, and determine whether the two actual positions are in the same segment path. Specifically, the actual position, that is, which segment path is determined, may directly determine whether the two actual positions are equal, if equal, that is, in the same segment path, step 307 may be further performed, and if different, not in the same segment path, step 308 may be further performed.
In this embodiment, after determining that two actual positions are in the same segment path, the executing entity may read, from the result data set, a distance corresponding to the actual position in the piece of data with the closest time as a distance corresponding to the last stored actual position, and use the distance as the distance between the vehicle and the destination, that is, the accuracy of calculating the distance between the vehicle and the destination of the present disclosure is segmented, and in the same segment path, the calculation results are the same and are the distances from the calculation position to the destination, which may save calculation power.
In this embodiment, the executing entity may directly calculate the distance from the calculated position to the destination after determining that the two actual positions are not in the same segment of the segmented path. Specifically, a crawling thread may be started, a path from the calculated position to the destination is crawled in the planned path, and the distance of the crawled path is directly returned by a map carried by the vehicle as the distance between the vehicle and the destination.
In some optional implementation manners of this embodiment, the recorded traveled path information may also be directly read, the traveled path length is returned from a map carried by the vehicle, the traveled path length is subtracted from the total length of the planned path recorded in the planned path information, and the calculation result is used as the distance between the vehicle and the destination.
It should be noted that the accuracy of the calculation of the distance between the vehicle and the destination of the present disclosure is segmented, the calculation results are the same in the same segmented route and are all the distances from the calculation position to the destination, as shown in fig. 6, fig. 6(a) and fig. 6(b) show a schematic diagram of the calculation of the distance between the vehicle and the destination according to the present disclosure, as can be seen from fig. 6(a), the vehicle driving and the calculation of the remaining distance of the present disclosure are sequentially performed from the starting point to the end point, fig. 6(a) is a circular route, the circular route is divided into four segments, the segmented position 3 is the starting point position and the end point position of the circular route, the traffic direction of the circular route is clockwise, the vehicle starts from the starting point position 1, when the vehicle drives to the position 2 near the end point, the vehicle is in the fourth segment, the segment position 4 is the calculated position and the distance of the vehicle from the destination is equal to the distance from the calculated position 4 to the segment position 3, instead of being equal to about zero. As can be seen from fig. 6(b), the accuracy of the distance between the vehicle and the destination of the present disclosure is piecewise, the calculation results are the same in the same piecewise path and are all distances from the calculation position to the destination, the calculation positions are different in different piecewise paths and are therefore also different, in fig. 6(b), when the vehicle travels to position 1, the vehicle is in the second piecewise path, the distance between the vehicle and the destination is the distance from the piecewise positions of the first and second segments to the destination, and when the vehicle travels to position 2 or position 3, the vehicle is in the third piecewise path and is the distance from the piecewise positions of the second and third segments to the destination.
In this embodiment, the execution subject described above may store the actual position and the distance between the vehicle and the destination in the result data set after obtaining the actual position and the distance between the vehicle and the destination. In particular, the actual position and the distance between the vehicle and the destination may be taken as a piece of data, which is stored at the first to be stored position of the result data set.
As can be seen from fig. 3, compared with the embodiment corresponding to fig. 2, the distance determining method in this embodiment determines the actual position based on the positioning information of the vehicle and the spatial relationship between the adjacent segment positions, calculates the remaining distance between the origin and the actual position by using the last segment position passed by the vehicle as the calculated position, saves the calculation power, improves the distance determining efficiency, directly reads the distance between the vehicle and the destination from the result data set when the actual position and the actual position last stored in the result data set are in the same segment path, and calculates in real time when the actual position and the actual position last stored in the result data set are not in the same segment path, thereby further improving the distance determining efficiency.
With further reference to fig. 7, as an implementation of the above distance determining method, the present disclosure provides an embodiment of a distance determining apparatus, which corresponds to the method embodiment shown in fig. 2, and which may be applied in various electronic devices in particular.
As shown in fig. 7, the distance determining apparatus 700 of this embodiment may include a first obtaining module 701, a determining module 702, a second obtaining module 703, and a calculating module 704. The first obtaining module 701 is configured to obtain planned path information from an origin to a destination; a determination module 702 configured to determine an actual position of the vehicle in the planned path based on the planned path information and the positioning information of the vehicle; a second obtaining module 703 configured to obtain a calculated position corresponding to the actual position; a calculation module 704 configured to calculate a distance between the vehicle and the destination based on the calculated position.
In the present embodiment, distance determining apparatus 700: the specific processing and the technical effects thereof of the first obtaining module 701, the determining module 702, the second obtaining module 703 and the calculating module 704 can refer to the related descriptions of step 201 and step 204 in the corresponding embodiment of fig. 2, which are not described herein again.
In some optional implementations of the present embodiment, the planned path information in the distance determining apparatus 700 includes at least one of: lane line information, road level information, traffic direction information, and the total length of the planned route.
In some optional implementations of this embodiment, the second obtaining module 703 includes: a first obtaining sub-module configured to obtain a plurality of segment positions preset in a planned path; a second acquisition submodule configured to acquire, as the calculated position, one of the segmented positions that the vehicle has passed through last between the origin and the actual position.
In some optional implementations of the present embodiment, the first obtaining module 701 includes at least one of the following obtaining units: a first obtaining unit configured to determine, as the plurality of segment positions, positions where the number of lanes changes in the planned path based on lane line information; a second obtaining unit configured to determine, as the plurality of segment positions, positions where a traffic direction changes in the planned path based on traffic direction information; and the third acquisition unit is configured to determine the positions of the planned path where the road trend changes as the plurality of segment positions based on the road level information.
In some optional implementations of this embodiment, the first obtaining module 701 includes: a dividing unit configured to uniformly divide the planned path into a plurality of segments; a second determination unit configured to determine an intersection position of any two adjacent segments as a plurality of segment positions.
In some optional implementations of this embodiment, the calculating module 704 includes: a third obtaining submodule configured to obtain a last stored actual position from the result dataset; a judging submodule configured to judge whether the actual position and the last stored actual position are in the same segment of the segmented path; a fourth obtaining sub-module configured to obtain, from the result data set, a distance corresponding to the last stored actual position as a distance between the vehicle and the destination in response to being in the same piece of the segmented path; a calculation sub-module configured to calculate a distance from the calculated position to the destination as a distance between the vehicle and the destination in response to not being in the same piece of the segmented path.
In some optional implementations of this embodiment, the determining module 702 includes: a determination submodule configured to determine an actual position based on the positioning information of the vehicle and a spatial relationship of a plurality of segment positions adjacent to the positioning information in the planned path.
In some optional implementations of the present embodiment, the distance determining apparatus 700 further includes: a storage module configured to store the actual location and the distance between the vehicle and the destination into a result dataset.
The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.
FIG. 8 illustrates a schematic block diagram of an example electronic device 800 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 8, the apparatus 800 includes a computing unit 801 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)802 or a computer program loaded from a storage unit 808 into a Random Access Memory (RAM) 803. In the RAM803, various programs and data required for the operation of the device 800 can also be stored. The calculation unit 801, the ROM 802, and the RAM803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.
A number of components in the device 800 are connected to the I/O interface 805, including: an input unit 806, such as a keyboard, a mouse, or the like; an output unit 807 such as various types of displays, speakers, and the like; a storage unit 808, such as a magnetic disk, optical disk, or the like; and a communication unit 809 such as a network card, modem, wireless communication transceiver, etc. The communication unit 809 allows the device 800 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
Computing unit 801 may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and the like. The calculation unit 801 executes the respective methods and processes described above, such as the distance determination method. For example, in some embodiments, the distance determination method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 808. In some embodiments, part or all of the computer program can be loaded and/or installed onto device 800 via ROM 802 and/or communications unit 809. When the computer program is loaded into the RAM803 and executed by the computing unit 801, one or more steps of the distance determination method described above may be performed. Alternatively, in other embodiments, the computing unit 801 may be configured to perform the distance determination method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a server of a distributed system or a server incorporating a blockchain. The server can also be a cloud server, or an intelligent cloud computing server or an intelligent cloud host with artificial intelligence technology. The server may be a server of a distributed system or a server incorporating a blockchain. The server can also be a cloud server, or an intelligent cloud computing server or an intelligent cloud host with artificial intelligence technology.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.
Claims (19)
1. A method of distance determination, comprising:
acquiring planning path information from an origin to a destination;
determining an actual position of the vehicle in a planned path based on the planned path information and positioning information of the vehicle;
acquiring a calculated position corresponding to the actual position;
calculating a distance between the vehicle and the destination based on the calculated position.
2. The method of claim 1, wherein the planned path information comprises at least one of: lane line information, road level information, traffic direction information, and the total length of the planned route.
3. The method of claim 2, wherein said obtaining a calculated position corresponding to the actual position comprises:
acquiring a plurality of segmentation positions preset in the planned path;
a segment position, which the vehicle has passed through last, between the origin and the actual position is acquired as the calculated position.
4. The method of claim 3, wherein the plurality of segment positions are set by at least one of:
determining positions where the number of lanes changes in the planned path as the plurality of segment positions based on the lane line information;
determining positions where the passing direction changes in the planned path as the plurality of segment positions based on the passing direction information;
and determining the positions of the road trend changes in the planned path as the plurality of segmented positions based on the road level information.
5. The method of claim 3, wherein the plurality of segment positions are set by:
uniformly dividing the planned path into a plurality of sections;
and determining the intersection point position of any two adjacent sections as the plurality of section positions.
6. The method of claim 4 or 5, wherein the calculating a distance between the vehicle and the destination based on the calculated position comprises:
obtaining a last stored actual position from the result dataset;
judging whether the actual position and the last stored actual position are in the same segment of the segmented path or not;
in response to obtaining a distance corresponding to the last stored actual location from the result dataset as a distance between the vehicle and the destination in the same segmented path;
in response to not being in the same segment of the segmented path, calculating a distance from the calculated position to the destination as a distance between the vehicle and the destination.
7. The method of claim 6, wherein the determining an actual position of the vehicle in a planned path based on the planned path information and positioning information of the vehicle comprises:
and determining the actual position based on the positioning information of the vehicle and the spatial relationship of a plurality of segment positions adjacent to the positioning information in the planned path.
8. The method of claim 1, further comprising:
storing the actual location and the distance between the vehicle and the destination into a result dataset.
9. A distance determination apparatus, the apparatus comprising:
a first acquisition module configured to acquire planned path information from an origin to a destination;
a determination module configured to determine an actual position of the vehicle in a planned path based on the planned path information and positioning information of the vehicle;
a second acquisition module configured to acquire a calculated position corresponding to the actual position;
a calculation module configured to calculate a distance between the vehicle and the destination based on the calculated position.
10. The apparatus of claim 9, wherein the planned path information comprises at least one of: lane line information, road level information, traffic direction information, and the total length of the planned route.
11. The apparatus of claim 10, wherein the second obtaining means comprises:
a first obtaining sub-module configured to obtain a plurality of segment positions preset in the planned path;
a second acquisition submodule configured to acquire, as the calculated position, one of the segment positions that the vehicle has passed through last between the origin and the actual position.
12. The apparatus of claim 11, wherein the first acquisition submodule comprises at least one of:
a first obtaining unit configured to determine, as the plurality of segment positions, positions where the number of lanes changes in the planned path based on the lane line information;
a second obtaining unit configured to determine, as the plurality of segment positions, positions where a traffic direction changes in the planned path based on the traffic direction information;
and the third acquisition unit is configured to determine the positions of the planned path where the road trend changes as the plurality of segment positions based on the road level information.
13. The apparatus of claim 11, wherein the first acquisition submodule comprises:
a dividing unit configured to uniformly divide the planned path into a plurality of segments;
a second determination unit configured to determine an intersection position of any two adjacent segments as the plurality of segment positions.
14. The apparatus of claim 12 or 13, wherein the computing module comprises:
a third obtaining submodule configured to obtain a last stored actual position from the result dataset;
a determination submodule configured to determine whether the actual position and the last stored actual position are in the same segment of the segmentation path;
a fourth obtaining sub-module configured to obtain, from the result dataset, a distance corresponding to the last stored actual position as a distance between the vehicle and the destination in response to being in the same segment of the segmented path;
a calculation sub-module configured to calculate a distance from the calculated position to the destination as a distance between the vehicle and the destination in response to not being in the same segment of the segmented path.
15. The apparatus of claim 14, wherein the means for determining comprises:
a determination submodule configured to determine the actual position based on positioning information of the vehicle and a spatial relationship of a plurality of segment positions adjacent to the positioning information in a planned path.
16. The apparatus of claim 9, further comprising:
a storage module configured to store the actual location and a distance between the vehicle and the destination into a result dataset.
17. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-8.
18. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-8.
19. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-8.
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