CN114323060B

CN114323060B - Distance determining method and device

Info

Publication number: CN114323060B
Application number: CN202111598190.8A
Authority: CN
Inventors: 秦圣林
Original assignee: Apollo Zhilian Beijing Technology Co Ltd; Apollo Zhixing Technology Guangzhou Co Ltd
Current assignee: Apollo Zhilian Beijing Technology Co Ltd; Apollo Zhixing Technology Guangzhou Co Ltd
Priority date: 2021-12-24
Filing date: 2021-12-24
Publication date: 2024-05-17
Anticipated expiration: 2041-12-24
Also published as: CN114323060A

Abstract

The disclosure provides a distance determining method, a device, equipment, a storage medium and a computer program product, relates to the technical field of artificial intelligence, in particular to the technical field of intelligent traffic, and can be applied to scenes such as distance determination. The specific implementation scheme is as follows: acquiring planned 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 the distance determining method and device, the distance from the vehicle to the destination in the driving process can be automatically calculated, the distance determining efficiency is improved, the limitation of the driving state of the vehicle is avoided, and the user experience is improved.

Description

Distance determining method and device

Technical Field

The disclosure relates to the technical field of artificial intelligence, in particular to the technical field of intelligent traffic, and is applicable to scenes such as distance determination, in particular to a distance determination method, a device, equipment, a storage medium and a computer program product.

Background

When the existing vehicle determines the distance, the user needs to manually click the station information 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 the distance determination efficiency.

According to an aspect of the present disclosure, there is provided a distance determining method including: acquiring planned 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 determining 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 apparatus 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 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 execute 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 above-mentioned distance determination method.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.

Drawings

The drawings are for 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 to which the present disclosure may be applied;

FIG. 2 is a flow chart of one embodiment of a distance determination method according to the present disclosure;

FIG. 3 is a flow chart of another embodiment of a distance determination method according to the present disclosure;

Fig. 4 (a), 4 (b), 4 (c) are a schematic diagram of determining an actual position in a unidirectional travel path according to the present disclosure;

FIG. 5 is a schematic illustration of determining an actual location in a bi-directional travel path segment according to the present disclosure;

fig. 6 (a) and 6 (b) are a schematic illustration of calculating a distance between a vehicle and a destination according to the present disclosure;

FIG. 7 is a flow chart of one embodiment of a distance determination apparatus 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 in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one 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 in which embodiments of the distance determination method or distance determination apparatus of the present disclosure may be applied.

As shown in fig. 1, a system architecture 100 may include terminal devices 101, 102, 103, a network 104, and a server 105. The network 104 is used as a medium to provide communication links between the terminal devices 101, 102, 103 and the server 105. The network 104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others.

The user can interact with the server 105 through the network 104 using the terminal devices 101, 102, 103 to acquire the distance between the vehicle and the destination, or the like. Various client applications, such as a map application, etc., may be installed on the terminal devices 101, 102, 103.

The terminal devices 101, 102, 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, smartphones, tablets, laptop and desktop computers, and the like. When the terminal devices 101, 102, 103 are software, they can be installed in the above-described electronic devices. Which may be implemented as a plurality of software or software modules, or as a single software or software module. The present invention is not particularly limited herein.

The server 105 may provide various distance-based services. For example, the server 105 may analyze and process the positioning information acquired from the terminal devices 101, 102, 103 and generate processing results (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 formed by a plurality of servers, or as a single server. When server 105 is software, it may be implemented as a plurality of software or software modules (e.g., to provide distributed services), or as a single software or software module. The present invention is not particularly limited herein.

It should be noted that, the distance determining method provided in the embodiments of the present disclosure is generally performed by the server 105, and accordingly, the distance determining device 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 determining method comprises the following steps:

Step 201, obtain planning the route information from origin to destination.

In this embodiment, an execution subject of the distance determination method (e.g., the server 105 shown in fig. 1) may acquire planned path information from the origin to the destination. Where the origin, i.e., the position where the vehicle starts traveling, the destination, i.e., the position where the vehicle stops traveling, and the planned path information, i.e., the information of the road through which the vehicle passes from the origin to the destination, for example, the planned path information may include a road number, a road type, and the planned path information may include a G3 road segment, which is a high-speed, three-weft road, from the origin to the destination, and 5 traffic lights.

The planned path information may be obtained based on a map of the vehicle itself, and illustratively, the origin position and the destination position are input in the map of the vehicle itself, and a piece of planned path information is automatically returned from the map. Illustratively, the origin position and the destination position are input in the map, a plurality of pieces of map-derived travel path information are generated from the map, and the map automatically selects one piece of travel path information having the shortest travel time from the generated plurality of pieces of travel path information as one piece of travel path information to be returned.

In some optional implementations of the present embodiment, the planned path information may be obtained from a pre-stored table, and illustratively, the origin position, the destination position, and the corresponding planned path information may be used as one line of data, multiple lines of data are pre-stored in the table, after the origin and destination information are obtained, the obtained origin and destination may be compared with the origin and destination in the table, and the planned path information corresponding to the successfully matched origin and destination may be obtained from the table.

Step 202, determining the actual position of the vehicle in the planned path based on the planned path information and the positioning information of the vehicle.

In this embodiment, after acquiring the planned path information from the origin to the destination, the execution subject may determine the actual position of the vehicle in the planned path based on the planned path 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. The positioning information of the vehicle can be acquired based on the positioning system of the vehicle, and the positioning information can be longitude and latitude information of the current position by sending a request for acquiring the positioning information of the vehicle to the positioning system of the vehicle and receiving the positioning information returned by the positioning system.

After the positioning information is acquired, the positioning information can be compared with the acquired planning path information, and the longitude and latitude information of each road in the planning path information can be calculated based on the information of the map for generating the planning path information and the relative position of each road in the planning path information in the map, the longitude and latitude information of each road in the planning path information is compared with the longitude and latitude information of each road in the planning path information, if the positioning information is within the longitude and latitude range included in the planning path information, the positioning information can be further determined to be in the road in the planning path information, if the positioning information is outside the longitude and latitude range included in the planning path information, the longitude and latitude information closest to the positioning information can be acquired, and the determined road is further determined to be in the road in the planning path information based on the closest longitude and latitude information, and the determined road is taken as the actual position of the vehicle in the planning path.

Step 203, obtaining a calculated position corresponding to the actual position.

In this embodiment, after the execution body acquires the actual position of the vehicle in the planned path, the execution body may acquire the calculated position corresponding to the actual position. Specifically, a plurality of calculation positions may be determined in advance in the planned path, and, illustratively, one calculation position may be determined every 10 meters from the origin, the distance of the actual position from each calculation position is calculated, and one calculation position having the smallest distance is determined as the calculation position corresponding to the actual position.

Step 204, calculating the distance between the vehicle and the destination based on the calculated position.

In this embodiment, after obtaining the calculated position, the execution subject may calculate the distance between the vehicle and the destination based on 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 an origin to a destination is obtained, then, the actual position of a vehicle in the planned path is determined based on the planned path information and the positioning information of the vehicle, then, the 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. Based on the method, the distance between the vehicle and the destination can be obtained in real time, the distance determination 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 determining method comprises the following steps:

Step 301, obtain planning path information from origin to destination.

In this embodiment, the specific operation of step 301 is described in detail in step 201 in the embodiment shown in fig. 2, and will not be described herein.

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 be varied, and exemplary, the planned path information includes four lanes in a first road segment and two lanes in a second road segment. The road level information is a road relationship in the physical world, and the planned path information includes, for example, a straight road section in a first road section, a curve road section connected to the first road section and a third road section in a second road section, and the third road section is a straight road section. The traffic direction information refers to a traffic direction of each lane planning, and the planning path information includes a first road section which is an east-west road section, wherein the traffic directions of the first lane and the second lane are east-west road sections, the traffic directions of the third lane and the fourth lane are west-east road sections, the traffic direction of the second road section is east-west road sections, the traffic direction of the first lane is east-west road sections, and the traffic direction of the second lane is west-east road sections. The total length of the planned path, i.e. the total length of the road section to be traversed by the planned vehicle from the origin to the destination, may be in meters or kilometers, and is not limited by the present disclosure.

Step 302, determining an 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.

In this embodiment, after the execution body obtains the planned path information, the execution body may determine the actual position based on the positioning information of the vehicle and the spatial relationship between the plurality of segment positions adjacent to the positioning information in the planned path. Specifically, the positioning information of the vehicle may be first obtained, and the specific operation of obtaining the positioning information is described in detail in step 202 in the embodiment shown in fig. 2, which is not described herein.

After the positioning information is acquired, a plurality of segment positions adjacent to the positioning information in the planned path can be determined, wherein the planned path can be divided into a plurality of segments in advance, the midpoint of a segment line between any two adjacent segments can be acquired as a plurality of segment positions in the planned path, each segment position can be represented by longitude and latitude of the position, and after the plurality of segment positions are acquired, the plurality of segment positions can be stored in the segment data set. The longitude and latitude of the positioning information and the longitude and latitude of each segment position can be compared to obtain a plurality of segment positions spatially adjacent to the positioning information as a plurality of segment positions adjacent to the positioning information in the planned path.

In some alternative implementations of the present embodiment, the plurality of segment positions may be set by at least one of: determining positions where the number of lanes in the planned path changes as the plurality of segment positions based on lane line information; determining the position where the passing direction changes in the planned path as the plurality of segment positions based on the passing direction information; and determining the position where the trend of the road changes in the planned path as the plurality of segment positions based on the road level information. The lane line information is the number of lanes separated by lane lines from an origin to a destination in a planned path, the number of lanes can be changed, the position where the number of lanes is changed can be determined based on the changed position of the lane lines, for example, a line parallel to a road surface and perpendicular to the lane lines can be made at the changed position where four lanes are changed into two lanes, the midpoint of the line is taken as a segment position, and the position where the number of all lanes in the planned path is changed can be obtained and taken as a plurality of segment positions. The traffic direction information refers to a traffic direction of each lane planning, and the planning path information includes a first section, a second section, a third section and a fourth section, wherein the traffic direction of the first section is east-west, the traffic direction of the second section is west-east, the traffic directions of the first and second lanes in the first section are different, the first and second lanes in the first section are used as a first section, the third and fourth lanes are used as a first section, two ends of the first section are respectively provided with a line parallel to the road surface and perpendicular to the lane lines, the middle point of the total width of the first and second lanes of the line is taken as a segmentation position, the middle point of the total width of the line is taken as a segmentation position, the traffic direction of the first and the second section in the second section is different in the traffic direction of the first section, the first and the second section can be taken as a middle point of the total width of the first section, and the first section can be taken as a position of the total line parallel to the two ends of the first section. The road level information is road relation in the physical world, and the planning path information includes a straight road section in a first road section, a turning road section connected with the first road section and a third road section in a second road section, and the third road section is a straight road section, so that the direction of the road changes, namely, the direction of the road changes and the direction of the road changes. Any two of the position where the number of lanes changes, the position where the passing direction changes, and the position where the road trend changes may be determined as a plurality of segment positions, or the position where all the number of lanes changes, the position where the passing direction changes, and the position where the road trend changes may be determined as a plurality of segment positions.

In some alternative implementations of the present embodiment, the plurality of segment positions may be set by: dividing the planned path into a plurality of sections uniformly; and determining the intersection point positions of any two adjacent segments as a plurality of segment positions. The planned path can be divided into multiple sections uniformly in advance at any equally divided interval, and the midpoints of intersecting lines of any two adjacent sections are determined as multiple section positions. The method of uniform division can keep the calculation accuracy of any position at the same level.

After the plurality of segment positions adjacent to the positioning information are acquired, an actual position may be determined based on the spatial relationship of the positioning information and the plurality of adjacent segment positions. Specifically, determining the actual position may be determining which section of the divided road section the vehicle is in, if in the unidirectional driving road section, the longitude and latitude of the positioning information and the longitude and latitude of the adjacent front and rear section positions may be compared, which section of the divided road section the vehicle is in, or an angle may be constructed based on the positioning position and the adjacent section position in the driving road section, and which section of the divided road section the vehicle is in may be determined by comparing with the angle threshold. As shown in fig. 4, fig. 4 (a), fig. 4 (b) and fig. 4 (c) show a schematic diagram of determining an actual position in a unidirectional driving road section according to the present disclosure, it can be seen from fig. 4 (a) that in a straight-going and unidirectional driving road section, a point No. 1 is a positioning position, a point No. 2 and a point No. 3 are two adjacent front and rear segment positions, and comparing the longitude and latitude of the point No. 1 with the longitude and latitude of the point No. 2 and the longitude and latitude of the point No. 3, it can be determined that the position of the point No. 1 is between the point No. 2 and the point No. 3, and thus it can be determined that the positioning position is in a road section between the point No. 2 and the point No. 3, i.e., the actual position of the vehicle is in a second segment road section. As can be seen from fig. 4 (b), in the curve and unidirectional traveling road section, the point No. 1 is a positioning position, the point No. 2 and the point No. 3 are two adjacent front and rear segment positions, and the longitude and latitude of the point No. 1 and the longitude and latitude of the point No. 2 and the longitude and latitude of the point No. 3 are compared, so that the position of the point No. 1 can be determined to be between the point No. 2 and the point No. 3, and therefore, the positioning position can be determined to be in the road section between the point No. 2 and the point No. 3, that is, the actual position of the vehicle is in the second road section. As can be seen from fig. 4 (c), in the curve and unidirectional driving road section, the locating position No. 1 point and the adjacent segment position No. 2 point in the driving road section can be connected, one side of the construction angle is taken as a line connecting the locating position No. 1 point, the line is parallel to the road surface and the north-south direction of the map, the other side of the construction angle is taken as the line, the angle α is constructed, the farther the driving in one path is, the smaller the angle α is, the angle α can be compared with the preset angle threshold value, the angle threshold value is exemplified as 80 °, if the angle α is overlarge, that is, the angle α is larger than the angle threshold value, the vehicle is judged to not be driven into the second road section, at this time, the actual position of the vehicle is determined to be in the first road section, and if the angle α is smaller than the angle threshold value, the vehicle is judged to have been driven into the second road section, at this time, the actual position of the vehicle is determined to be in the second road section. As is clear from the above analysis, in the curve and one-way travel section, there is a certain error in determining the actual position of the vehicle based on the angle comparison, and therefore, in the curve and one-way travel section, the actual position of the vehicle is determined by preferentially comparing the longitude and latitude of the positioning information with the longitude and latitude of the adjacent front and rear two segment positions.

If in a bidirectional driving section, an angle can be established based on the locating position and any adjacent segment position, and by comparing with an angle threshold value, it is determined in which section of the divided section the vehicle is in, wherein in the bidirectional driving section, mainly in the section in which driving direction is determined. As shown in fig. 5, fig. 5 shows a schematic diagram of determining an actual position in a bidirectional traveling road section according to the present disclosure, it can be seen from fig. 5 that in a straight traveling and bidirectional traveling road section, traveling from right to left in a first section and a second section path, turning in a fourth section and a fifth section path, turning from left to right, a point 1 is a positioning position, a point 2, a point 3, a point 4, and a point 5 are adjacent segment positions of the positioning position, an angle can be constructed based on any one segment position of the point 1 and the point 2, the point 3, the point 4, and the point 5, an angle is constructed based on the point 1 and the point 4, the positioning position 1 can be defined, and connecting the adjacent segment position No. 4 points to form one side of an angle, forming a line which is used for connecting the positioning position No. 1 point, is parallel to the road surface and is parallel to the north-south direction of the map, forming an angle beta as the other side of the angle, if the positioning position is in the fourth section of path, the angle beta is smaller, if the positioning position is in the second section of path, the angle beta is larger, the angle beta can be compared with a preset angle threshold, for example, the angle threshold is 40 degrees, if the angle beta is larger than the angle threshold, the actual position of the vehicle is judged to be in the second section of path, and if the angle beta is smaller than the angle threshold, the actual position of the vehicle is judged to be in the fourth section of path.

Step 303, obtaining a plurality of preset segment positions in the planned path.

In this embodiment, the execution body may acquire a plurality of segment positions preset in the planned path. The method for setting the segment positions is described in detail in step 302 in the embodiment shown in fig. 3, and will not be described herein. The set plurality of segment positions are stored in the segment data set, so that the plurality of segment positions preset in the planned path can be directly read out from the segment data set.

Step 304, a segment position, between the origin and the actual position, where the vehicle last passed, is obtained as the calculated position.

In this embodiment, the execution body may further obtain the calculated position after acquiring the plurality of preset segment positions. Specifically, the path travelled by the vehicle may be acquired first, and, for example, each time the vehicle travels through a path, the path that has travelled through the path may be automatically recorded, so that the recorded path information of the path that has travelled through may be directly read, a path that has travelled through the path from the origin to the actual location may be acquired therefrom, and the last segment position of the path may be determined as the calculated position.

In some optional implementations of this embodiment, after the recorded running path information is read, the latitude and longitude information of the actual position may be compared with the latitude and longitude information of each segment position included in the running path, and a segment position closest to the actual position may be determined as the calculated position.

Step 305, obtaining the last stored actual location from the result dataset.

In this embodiment, the execution body may acquire the last stored actual location from the result data set. After a new distance from the destination is calculated each time, the determined actual position and the corresponding distance are used as one piece of data and stored in a result data set, and each piece of data in the result data set is sequentially stored according to time sequence, so that the actual position in the data with the latest time can be directly read from the result data set, and the actual position is the last stored actual position.

Step 306, determining whether the actual position and the last stored actual position are in the same segment of the segment path.

In this embodiment, after obtaining the last stored actual position, the executing body may compare the actual position obtained this time with the last stored actual position in the result dataset, and determine whether the two actual positions are in the same segment of the segment path. Specifically, the actual position, i.e. the determined segment path, may directly determine whether the two actual positions are identical, if so, i.e. in the same segment path, step 307 may be further performed, and if not, step 308 may be further performed.

Step 307, in response to the distance corresponding to the last stored actual location being retrieved from the result dataset as the distance between the vehicle and the destination in the same segment of the segmented path.

In this embodiment, after determining that two actual positions are in the same segment path, the executing body may read, from the result data set, a distance corresponding to an actual position in a piece of data with the closest time, as a distance corresponding to a last stored actual position, and use the distance as a distance between the vehicle and the destination, that is, an accuracy of calculating a distance between the vehicle and the destination in the present disclosure is segmented, and in the same segment path, the calculation results are the same and are both distances from the calculated position to the destination, so that the calculation force can be saved, and therefore, if the two actual positions are in the same segment path, the calculated result can be directly read, and the calculation force is further saved.

Step 308, responsive to not being in the same segment of the segmented path, calculating a distance from the calculated location to the destination as a distance between the vehicle and the destination.

In this embodiment, the execution body 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 path. Specifically, a crawling thread may be started to crawl a path from a calculated location to a destination in a planned path, and the distance of the crawling path is returned directly by a map carried by the vehicle as the distance between the vehicle and the destination.

In some alternative implementations of the present embodiment, the recorded path information may also be read directly, the path length travelled is returned from the map carried by the vehicle, the total length of the planned path recorded in the planned path information is subtracted, and the calculated result is taken as the distance between the vehicle and the destination.

It should be noted that, the accuracy of calculating the distance between the vehicle and the destination of the present disclosure is segmented, in the same segmented path, the calculation results are the same, 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 calculating the distance between the vehicle and the destination according to the present disclosure, as can be seen from fig. 6 (a), the calculation of the vehicle running and the remaining distance of the present disclosure is sequentially performed from the start point to the end point, in fig. 6 (a), a circular path is divided into four segments, the segmentation position 3 is the start point position and the end point position of the circular path, the passing direction of the circular path is clockwise, the vehicle starts from the start point position 1, when the vehicle runs to the position 2 near the end point, in the fourth path, the segmentation position 4 is the calculation position, and the distance of the vehicle from the destination is equal to the distance from the calculation position 4 to the segmentation position 3, instead of being about zero. As can be seen from fig. 6 (b), the accuracy of calculating the distance between the vehicle and the destination of the present disclosure is segmented, in the same segmented path, the calculation results are the same, both the distances from the calculation position to the destination, in different segmented paths, the calculation results are different, and therefore, the calculation results are also different, in fig. 6 (b), when the vehicle travels to position 1, the vehicle is in the second segmented path, both the distances between the vehicle and the destination are the distances from the segmented positions of the first segment and the second segment to the destination, and when the vehicle travels to position 2 or position 3, both the vehicles are in the third segmented path, both the distances between the vehicle and the destination are the distances from the segmented positions of the second segment and the third segment to the destination.

Step 309, storing the actual location and the distance between the vehicle and the destination in a result data set.

In this embodiment, the execution subject 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. Specifically, the actual location and the distance between the vehicle and the destination may be taken as one piece of data, which is stored in the first to-be-stored location 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 an actual position based on the positioning information of the vehicle and the spatial relationship between the adjacent plural segment positions, calculates, as a calculation position, a segment position through which the vehicle last passes between the origin and the actual position, thereby saving calculation force, improving the distance determining efficiency, and directly reads the distance between the vehicle and the destination from the result data set when the actual position and the last stored actual position in the result data set are in the same segment path, and calculates in real time again when the actual position and the last stored actual position in the result data set are not in the same segment path, further improving the distance determining efficiency.

With further reference to fig. 7, as an implementation of the above distance determination method, the present disclosure provides an embodiment of a distance determination apparatus, which corresponds to the method embodiment shown in fig. 2, and which is particularly applicable to various electronic devices.

As shown in fig. 7, the distance determining apparatus 700 of the present embodiment may include a first acquisition module 701, a determination module 702, a second acquisition module 703, and a calculation module 704. Wherein, the first obtaining module 701 is configured to obtain planned path information from an origin to a destination; a determining 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 acquisition module 703 configured to acquire 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 location.

In the present embodiment, the distance determining apparatus 700: the specific processing and the technical effects of the first obtaining module 701, the determining module 702, the second obtaining module 703, and the calculating module 704 may refer to the description of steps 201 to 204 in the corresponding embodiment of fig. 2, and are not repeated herein.

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 grade information, traffic direction information, and total length of planned path.

In some alternative implementations of the present embodiment, the second obtaining module 703 includes: a first acquisition sub-module configured to acquire a plurality of segment positions preset in a planned path; a second acquisition sub-module configured to acquire, as the calculated position, a segment position between the origin and the actual position through which the vehicle last passed.

In some alternative implementations of the present embodiment, the first acquisition module 701 includes at least one of the following acquisition units: a first acquisition unit configured to determine, based on lane line information, positions at which the number of lanes in the planned path changes as the plurality of segment positions; the second acquisition unit is configured to determine positions, in which the passing direction changes in the planned path, as the plurality of segment positions based on the passing direction information; and the third acquisition unit is configured to determine the positions of the road trend changes in the planned path as the plurality of segment positions based on the road level information.

In some optional implementations of the present embodiment, the first obtaining module 701 includes: a dividing unit configured to uniformly divide the planned path into a plurality of segments; and a second determining unit configured to determine the intersection point positions of any adjacent two segments as a plurality of segment positions.

In some alternative implementations of the present embodiment, the computing module 704 includes: a third acquisition sub-module configured to acquire a last stored actual location from the result dataset; the judging submodule is configured to judge whether the actual position and the last stored actual position are in the same segment of segmented path or not; a fourth acquisition sub-module configured to acquire, as a distance between the vehicle and the destination, a distance corresponding to a last stored actual position from the result dataset in response to in the same segment of the segmented path; a calculation sub-module configured to calculate a distance from the calculated location to the destination as a distance between the vehicle and the destination in response to not being in the same segment path.

In some alternative implementations of the present embodiment, the determining module 702 includes: a determination sub-module configured to determine an actual location based on the positioning information of the vehicle and a spatial relationship of a plurality of segment locations in the planned path adjacent to the positioning information.

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 in a result data set.

According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

Fig. 8 illustrates a schematic block diagram of an example electronic device 800 that may 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 telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary 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 computing 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 the bus 804.

Various components in device 800 are connected to I/O interface 805, including: an input unit 806 such as a keyboard, mouse, etc.; 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, etc.; and a communication unit 809, such as a network card, modem, wireless communication transceiver, or the like. 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.

The computing unit 801 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 801 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The calculation unit 801 performs the respective methods and processes described above, for example, a distance determination method. For example, in some embodiments, the distance determination method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 800 via ROM 802 and/or communication unit 809. When a computer program is loaded into the RAM 803 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 by any other suitable means (e.g. by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On 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, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code 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 code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. 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. The 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 pointing device (e.g., a mouse or 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 may 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 input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background 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 background, 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 a client and a server. The client and server are typically 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 that incorporates 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 that incorporates 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 appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel or sequentially or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.

The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.

Claims

1. A distance determination method, comprising:

acquiring planned 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 the positioning information of the vehicle;

Acquiring a plurality of preset segment positions in a planned path, wherein one segment position between the origin and the actual position and the last passing of the vehicle or one segment position closest to the actual position is used as a calculation position;

based on the calculated position, a distance between the vehicle and the destination is calculated.

2. The method of claim 1, wherein the planned path information includes at least one of: lane line information, road grade information, traffic direction information, and total length of planned path.

3. The method of claim 2, wherein the plurality of segment positions are set by at least one of:

determining positions where the number of lanes in the planned path changes as the plurality of segment positions based on the lane line information;

determining the position of the planned path, in which the passing direction changes, as the plurality of segment positions based on the passing direction information;

And determining the position where the trend of the road changes in the planned path as the plurality of segment positions based on the road level information.

4. The method of claim 1, wherein the plurality of segment positions are set by:

Dividing the planned path into a plurality of sections uniformly;

And determining the intersection point positions of any two adjacent segments as the plurality of segment positions.

5. The method of claim 3 or 4, wherein the calculating a distance between the vehicle and the destination based on the calculated location comprises:

acquiring a last stored actual position from a result data set;

judging whether the actual position and the last stored actual position are in the same segment of segmented path or not;

In response to acquiring 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 segment of the segmented path;

in response to not being in the same segment of the segmented path, a distance from the calculated location to the destination is calculated as a distance between the vehicle and the destination.

6. The method of claim 5, wherein the determining an actual location of the vehicle in the planned path based on the planned path information and location information of the vehicle comprises:

the actual position is determined 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.

7. The method of claim 1, further comprising:

The actual location and the distance between the vehicle and the destination are stored in a result data set.

8. A distance determining apparatus, the apparatus comprising:

a first acquisition module configured to acquire planned path information from an origin to a destination;

A determining 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 comprising: a first acquisition sub-module configured to acquire a plurality of segment positions preset in the planned path; a second acquisition sub-module configured to take as a calculated position a segment position between the origin and the actual position, through which the vehicle last passes, or a segment position nearest to the actual position;

A calculation module configured to calculate a distance between the vehicle and the destination based on the calculated position.

9. The apparatus of claim 8, wherein the planned path information comprises at least one of: lane line information, road grade information, traffic direction information, and total length of planned path.

10. The apparatus of claim 9, wherein the first acquisition submodule comprises at least one acquisition unit of:

A first acquisition unit configured to determine, based on the lane line information, positions at which the number of lanes in the planned path changes as the plurality of segment positions;

a second acquisition unit configured to determine, based on the traffic direction information, a position in the planned path at which a traffic direction changes as the plurality of segment positions;

And the third acquisition unit is configured to determine the positions of the road trend change in the planned path as the plurality of segment positions based on the road level information.

11. The apparatus of claim 8, wherein the first acquisition submodule comprises:

A dividing unit configured to uniformly divide the planned path into a plurality of segments;

And a second determining unit configured to determine the intersection point positions of any adjacent two segments as the plurality of segment positions.

12. The apparatus of claim 10 or 11, wherein the computing module comprises:

a third acquisition sub-module configured to acquire a last stored actual location from the result dataset;

a judging sub-module configured to judge whether the actual position and the last stored actual position are in the same segment of the segment path;

A fourth acquisition sub-module configured to acquire, as a distance between the vehicle and the destination, a distance corresponding to the last stored actual position from the result dataset in response to in the same segment of the segmented path;

A calculation sub-module configured to calculate a distance from the calculated location to the destination as a distance between the vehicle and the destination in response to not being in the same segment path.

13. The apparatus of claim 12, wherein the means for determining comprises:

a determination sub-module configured to determine the actual location based on positioning information of the vehicle and a spatial relationship of a plurality of segment locations in a planned path adjacent to the positioning information.

14. The apparatus of claim 8, further comprising:

A storage module configured to store the actual location and a distance between the vehicle and the destination in a result data set.

15. An electronic device, comprising:

at least one processor; and

A memory communicatively coupled to the at least one processor; wherein,

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 1-7.

16. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-7.

17. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any of claims 1-7.