CN114840810A

CN114840810A - Vehicle attitude information generation method, device, equipment and computer readable medium

Info

Publication number: CN114840810A
Application number: CN202210419623.7A
Authority: CN
Inventors: 李帅杰; 倪凯
Original assignee: HoloMatic Technology Beijing Co Ltd
Current assignee: HoloMatic Technology Beijing Co Ltd
Priority date: 2022-04-21
Filing date: 2022-04-21
Publication date: 2022-08-02

Abstract

The embodiment of the disclosure discloses a vehicle attitude information generation method, a vehicle attitude information generation device and a computer readable medium. One embodiment of the method comprises: determining a vehicle moving distance value and a ground normal vector based on a predetermined vehicle positioning information sequence; generating a relative attitude matrix based on the ground normal vector and a preset initial unit vector in response to determining that the vehicle movement distance value meets a preset distance condition; respectively standardizing the relative attitude matrix and the vehicle positioning information which meets the preset time sequence condition in the vehicle positioning information sequence to obtain a standardized relative attitude matrix and standardized vehicle positioning information; and generating vehicle attitude information based on the standardized relative attitude matrix and the standardized vehicle positioning information. This embodiment can improve the accuracy of the generated vehicle attitude information.

Description

Vehicle attitude information generation method, device, equipment and computer readable medium

Technical Field

Embodiments of the present disclosure relate to the field of computer technologies, and in particular, to a method, an apparatus, a device, and a computer-readable medium for generating vehicle attitude information.

Background

The generation of the vehicle attitude information has important significance to the field of automatic driving. At present, when generating vehicle attitude information, the following methods are generally adopted: and generating vehicle attitude information in a pre-calibration mode.

However, when the vehicle attitude information generation is performed in the above manner, there are often technical problems as follows:

firstly, the actual position relationship of the vehicle relative to the ground changes with time, and the vehicle attitude information generated in a pre-calibration manner is fixed and unchanged, so that the accuracy of the generated vehicle attitude information is insufficient, and further, the accuracy of the road information generated by using the vehicle attitude information is insufficient;

secondly, since the attitude relationship between the ground coordinate system and the initial coordinate system is not considered, the accuracy of the generated vehicle attitude information is reduced, so that the ability of improving the vehicle control stability through the feedforward control of the vehicle is insufficient by using the vehicle attitude information as the prior information, and further, the comfort of the autonomous vehicle is reduced.

Disclosure of Invention

This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

Some embodiments of the present disclosure propose a vehicle attitude information generation method, apparatus, device and computer readable medium to solve one or more of the technical problems mentioned in the background section above.

In a first aspect, some embodiments of the present disclosure provide a vehicle attitude information generation method, including: determining a vehicle moving distance value and a ground normal vector based on a predetermined vehicle positioning information sequence; generating a relative attitude matrix based on the ground normal vector and a preset initial unit vector in response to determining that the vehicle movement distance value meets a preset distance condition; respectively standardizing the relative attitude matrix and the vehicle positioning information which meets the preset time sequence condition in the vehicle positioning information sequence to obtain a standardized relative attitude matrix and standardized vehicle positioning information; generating vehicle attitude information based on the normalized relative attitude matrix and the normalized vehicle positioning information, wherein the vehicle attitude information includes a target attitude matrix.

In a second aspect, some embodiments of the present disclosure provide a vehicle attitude information generation apparatus, including: a determination unit configured to determine a vehicle movement distance value and a ground normal vector based on a predetermined vehicle positioning information sequence; a first generating unit configured to generate a relative attitude matrix based on the ground normal vector and a preset initial unit vector in response to a determination that the vehicle movement distance value satisfies a preset distance condition; the standardization processing unit is configured to respectively standardize the relative attitude matrix and the vehicle positioning information which meets a preset time sequence condition in the vehicle positioning information sequence to obtain a standardized relative attitude matrix and standardized vehicle positioning information; a second generating unit configured to generate vehicle attitude information based on the normalized relative attitude matrix and the normalized vehicle positioning information, wherein the vehicle attitude information includes a target attitude matrix.

In a third aspect, some embodiments of the present disclosure provide an electronic device, comprising: one or more processors; a storage device having one or more programs stored thereon, which when executed by one or more processors, cause the one or more processors to implement the method described in any of the implementations of the first aspect.

In a fourth aspect, some embodiments of the present disclosure provide a computer readable medium on which a computer program is stored, wherein the program, when executed by a processor, implements the method described in any of the implementations of the first aspect.

The above embodiments of the present disclosure have the following advantages: by the vehicle attitude information generation method of some embodiments of the present disclosure, the accuracy of the generated vehicle attitude information can be improved. Specifically, the reason why the accuracy of the generated vehicle attitude information is insufficient is that: the actual position of the vehicle relative to the ground may vary over time, while the vehicle attitude information generated in a precalibrated manner is fixed. Based on this, the vehicle attitude information generation method of some embodiments of the present disclosure first determines a vehicle movement distance value and a ground normal vector based on a predetermined vehicle positioning information sequence. By generating the vehicle moving distance value and the ground normal vector, the coordinate system can be used for representing the position of the ground where the vehicle is located and the popular structure of the ground respectively. Then, in response to determining that the vehicle movement distance value satisfies a preset distance condition, a relative attitude matrix is generated based on the ground normal vector and a preset initial unit vector. By introducing the preset distance condition, the method can be used for ensuring the accuracy of vehicle positioning. By generating a relative pose matrix, it can be used to determine the change in pose of the vehicle. And then, respectively carrying out standardization processing on the relative attitude matrix and the vehicle positioning information which meets the preset time sequence condition in the vehicle positioning information sequence to obtain a standardized relative attitude matrix and standardized vehicle positioning information. By the normalization processing, the influence factor in generating the vehicle attitude information can be removed, thereby improving the accuracy of generating the vehicle attitude information. And finally, generating vehicle attitude information based on the standardized relative attitude matrix and the standardized vehicle positioning information, wherein the vehicle attitude information comprises a target attitude matrix. Therefore, the vehicle attitude information generation method of some embodiments of the present disclosure avoids generating vehicle attitude information in a pre-calibrated manner. In order to improve the accuracy of the generated vehicle attitude information, a method different from the usual method is adopted. So that the vehicle attitude information can be changed following the vehicle movement. The accuracy of the generated vehicle attitude information can thereby be improved. Further, the accuracy of road information generated using vehicle attitude information is improved to improve driving safety.

Drawings

The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and elements are not necessarily drawn to scale.

FIG. 1 is a flow diagram of some embodiments of a vehicle attitude information generation method according to the present disclosure;

FIG. 2 is a flow chart of further embodiments of a vehicle attitude information generation method according to the present disclosure;

FIG. 3 is a schematic structural diagram of some embodiments of a vehicle attitude information generation apparatus according to the present disclosure;

FIG. 4 is a schematic block diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.

It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings. The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.

It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.

It is noted that references to "a" or "an" in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will appreciate that references to "one or more" are intended to be exemplary and not limiting unless the context clearly indicates otherwise.

The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.

The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Fig. 1 illustrates a flow 100 of some embodiments of a vehicle attitude information generation method according to the present disclosure. The process 100 of the vehicle attitude information generation method includes the following steps:

step 101, determining a vehicle moving distance value and a ground normal vector based on a predetermined vehicle positioning information sequence.

In some embodiments, the executing subject of the vehicle attitude information generation method may determine the vehicle movement distance value and the ground normal vector based on a predetermined vehicle positioning information sequence. Wherein each vehicle localization information in the sequence of vehicle localization information may be historically generated, consecutive frames of vehicle localization information. The vehicle positioning information may be position coordinates of the vehicle. The vehicle movement distance value may be a distance moved by the vehicle over a time period corresponding to successive frames. The ground normal vector may be a normal vector of the ground where the vehicle is currently located, and may be used to represent a coordinate system of the ground where the vehicle is currently located.

In some optional implementations of some embodiments, the predetermined sequence of vehicle-location information is generated by:

first, vehicle inertial measurement data and wheel speed data are obtained. Wherein vehicle inertial measurement data may be acquired from an inertial measurement unit in the vehicle. Wheel speed data is obtained from the odometer.

And secondly, generating a vehicle positioning information sequence based on the vehicle inertia measurement data and the wheel speed data. The vehicle positioning information sequence can be generated through a dead reckoning algorithm.

In some optional implementations of some embodiments, the vehicle positioning information in the vehicle positioning information sequence may further include a rotation matrix and a translation vector, and the executing entity determines the vehicle movement distance value and the ground normal vector based on the vehicle positioning information sequence, and may include the following steps:

firstly, determining a translation distance value between translation vectors in every two adjacent pieces of vehicle positioning information in the vehicle positioning information sequence to obtain a translation distance value sequence. The translation distance value between the translation vectors in every two adjacent pieces of vehicle positioning information may be a translation distance value between the translation vectors in every two adjacent pieces of vehicle positioning information in the consecutive frames of vehicle positioning information. By determining a translation distance value between two adjacent frames, a vehicle movement distance value may be determined.

And secondly, determining the sum of all the translation distance values in the translation distance value sequence as a vehicle moving distance value.

In practice, consecutive frames may refer to consecutive data over a certain time (e.g., 0.5 seconds). Therefore, determining the vehicle displacement distance value in the above manner does not produce a large error.

In some optional implementation manners of some embodiments, the executing entity determines the vehicle moving distance value and the ground normal vector based on the vehicle positioning information sequence, and may further include the following steps:

firstly, extracting a rotation matrix included in each piece of vehicle positioning information in the vehicle positioning information sequence to generate an initial normal vector, and obtaining an initial normal vector sequence. Wherein, the extraction can be: and extracting the third column of data in the rotation matrix included by the vehicle positioning information as an initial normal vector. Thereby obtaining an initial normal vector sequence.

And secondly, performing low-pass filtering processing on each initial normal vector in the initial normal vector sequence to obtain a ground normal vector. The low-pass filtering may be to determine an average value of each initial normal vector in the initial normal vector sequence as a ground normal vector. Therefore, the characterization capability of the ground normal vector for the ground popular structure can be further improved. Thereby ensuring the accuracy of the subsequent vehicle attitude information generation.

In practice, the vehicle coordinate system changes as the vehicle is displaced over time. The initial coordinate system may be a world coordinate system constructed with a position of the vehicle at the time of starting or at the time of starting generation of the vehicle posture information as an origin. The vertical axis of the world coordinate system can be vertical and upward, and the plane enclosed by the horizontal axis and the vertical axis can be a horizontal plane. Thus, the initial normal vector can also be used to characterize a vector representation of the vertical axis of the vehicle coordinate system at a time in the initial coordinate system. Specifically, the vehicle posture is affected by the ground structure, so that the vehicle posture is similar to the curved surface of the ground where the vehicle is located. Thus, the vehicle coordinate system may also be used to characterize ground prevalent structures in the vehicle coordinate system. Therefore, the ground normal vector generated by the initial normal vector has stronger characterization capability on the ground popular structure. Furthermore, the estimation error of the ground popular structure can be reduced, and the accuracy of generating the vehicle attitude information can be improved. In addition, the constructed world coordinate system may be invariant when vehicle attitude information generation is performed. Therefore, the vehicle attitude information is generated based on the world coordinate system, and the accuracy of the generated vehicle attitude information can be further improved.

And 102, in response to the fact that the vehicle moving distance value meets the preset distance condition, generating a relative attitude matrix based on the ground normal vector and a preset initial unit vector.

In some embodiments, the execution subject may generate the relative posture matrix in various ways based on the ground normal vector and a preset initial unit vector in response to determining that the vehicle movement distance value satisfies a preset distance condition. The preset distance condition may be that the vehicle moving distance value is within a preset distance interval. The initial unit vector may be a vertical axis representation of the initial coordinate system. The relative attitude matrix can be used for representing the attitude relation between the coordinate system corresponding to the ground where the vehicle is located and the initial coordinate system. The ground normal vector changes along with the change of the popular structure of the ground where the vehicle is located at each moment. The corresponding coordinate system of the ground is also changing.

In some optional implementation manners of some embodiments, the generating, by the execution main body, a relative attitude matrix based on the ground normal vector and a preset initial unit vector may include:

in the first step, the product of cross multiplication between the ground normal vector and the initial unit vector is determined as a rotation vector. Wherein the rotation vector may be an axial representation of the vehicle coordinate system at the current time relative to the initial coordinate system. The current time may be the time corresponding to the last frame of the consecutive frames.

And secondly, determining the inverse cosine value of the product of the dot product between the ground normal vector and the initial unit vector as the rotation angle. The rotation angle may be an angle range in which the vehicle coordinate system at the current time changes around the rotation vector with respect to the initial coordinate system.

And thirdly, generating a relative attitude matrix based on the rotation vector and the rotation angle. The rotation vector and the rotation angle can be converted into a rotation matrix by using a preset identity matrix and an exponential mapping method, so as to obtain a relative attitude matrix. The relative attitude matrix may represent a relative change between the rotation matrix in the vehicle positioning information at the current time and the rotation matrix of the vehicle at the origin position of the initial coordinate system.

As an example, the above-described identity matrix may be a 3 × 3 identity matrix.

And 103, respectively carrying out standardization processing on the relative attitude matrix and the vehicle positioning information which meets the preset time sequence condition in the vehicle positioning information sequence to obtain a standardized relative attitude matrix and standardized vehicle positioning information.

In some embodiments, the execution subject may perform normalization processing on the relative orientation matrix and the vehicle positioning information satisfying a predetermined time sequence condition in the vehicle positioning information sequence, respectively, to obtain a normalized relative orientation matrix and normalized vehicle positioning information. The preset time sequence condition may be the last frame of vehicle positioning information in the vehicle positioning information sequence, that is, the vehicle positioning information at the current time. The normalization process may be performed by: firstly, the relative attitude matrix and the rotation matrix in the vehicle positioning information can be expressed by Euler angles to obtain a relative attitude heading angle matrix, a relative attitude pitch angle matrix, a relative attitude roll angle matrix, a rotation heading angle matrix, a rotation pitch angle matrix and a rotation roll angle matrix. Then, one entry of the heading angle in euler angles may be deleted (i.e., the relative heading angle matrix and the rotational heading angle matrix are deleted). Finally, the product of the relative attitude pitch angle matrix and the relative attitude roll angle matrix may be determined as the normalized relative attitude matrix. And determining the product of the rotation pitch angle matrix and the rotation roll angle matrix as a standardized vehicle positioning matrix as standardized vehicle positioning information.

And 104, generating vehicle attitude information based on the standardized relative attitude matrix and the standardized vehicle positioning information.

In some embodiments, the execution body may generate the vehicle attitude information in various ways based on the normalized relative attitude matrix and the normalized vehicle positioning information. The vehicle attitude information may include a target attitude matrix.

In some optional implementations of some embodiments, the executing body generating the vehicle attitude information based on the normalized relative attitude matrix and the normalized vehicle positioning information may include:

and firstly, generating a to-be-processed attitude matrix based on the standardized relative attitude matrix and the standardized vehicle positioning information. The product of the inverse matrix of the standardized vehicle positioning matrix in the standardized vehicle positioning information and the standardized relative attitude matrix can be determined as the attitude matrix to be processed.

And secondly, carrying out standardization processing on the attitude matrix to be processed to obtain a target attitude matrix. The attitude matrix to be processed can be standardized through the standardized processing mode, and a target attitude matrix is obtained.

And thirdly, determining the target attitude matrix as vehicle attitude information.

With further reference to fig. 2, a flow 200 of further embodiments of a vehicle attitude information generation method is shown. The process 200 of the vehicle attitude information generation method includes the following steps:

step 201, based on a predetermined vehicle positioning information sequence, determining a vehicle moving distance value and a ground normal vector.

Step 202, in response to determining that the vehicle movement distance value meets a preset distance condition, generating a relative attitude matrix based on the ground normal vector and a preset initial unit vector.

And 203, respectively standardizing the relative attitude matrix and the vehicle positioning information which meets the preset time sequence condition in the vehicle positioning information sequence to obtain a standardized relative attitude matrix and standardized vehicle positioning information.

And step 204, generating vehicle attitude information based on the standardized relative attitude matrix and the standardized vehicle positioning information.

In some embodiments, the specific implementation manner and technical effects of steps 201-204 can refer to steps 101-104 in the embodiments corresponding to fig. 1, and are not described herein again.

In step 205, the pitch angle of the relative attitude matrix is determined.

In some embodiments, the executing subject of the vehicle attitude information generation method may determine the pitch angle of the above-described relative attitude matrix. The relative attitude matrix may be expressed by euler angles to obtain a relative attitude pitch angle matrix. Thereby, the pitch angle can be obtained. The pitch angle may be used to characterize the grade of the ground on which the vehicle is located at the present time.

And step 206, adding the pitch angle to the vehicle attitude information to obtain target vehicle attitude information.

In some embodiments, the execution body may add the pitch angle to the vehicle attitude information to obtain target vehicle attitude information. The target vehicle attitude information can represent information of a road where the vehicle is located at the current moment.

And step 207, sending the target vehicle attitude information to the vehicle control end so that the vehicle control end can control the vehicle to move.

In some embodiments, the execution subject may send the target vehicle posture information to a vehicle control end for the vehicle control end to control vehicle movement.

The above embodiments and their related contents are regarded as an invention of the embodiments of the present disclosure, and solve the technical problem mentioned in the background section, "because the attitude relationship between the ground coordinate system and the initial coordinate system is not considered, the accuracy of the generated vehicle attitude information is reduced, so that the ability of improving the vehicle control stability through the feedforward control of the vehicle using the vehicle attitude information as the prior information is insufficient, and further, the comfort of the automatically driven vehicle is reduced". The reason why the ability to control the stability of the vehicle is insufficient is that: since the attitude relationship between the ground coordinate system and the initial coordinate system is not considered, the accuracy of the generated vehicle attitude information is reduced, and thus, the ability of improving the vehicle control stability through the feedforward control of the vehicle with the vehicle attitude information as the prior information is insufficient. If the above-mentioned factors are solved, the object of improving the vehicle control stability capability can be achieved. To achieve this effect, first, the above-described respective embodiments can improve the accuracy of the generated vehicle posture information. Wherein, by generating a relative attitude matrix, it can be used to determine the attitude relationship between the ground coordinate system and the initial coordinate system. The accuracy of the generated vehicle attitude information can thereby be further improved. Then, by generating the attitude information of the target vehicle, the attitude relationship between the vehicle and the road surface at the present time and the road surface gradient can be obtained. Therefore, more accurate prior information of the current road can be provided for the control end. Therefore, the control end can adjust the vehicle control data in time according to the prior information. Thereby improving the stability of the control of the vehicle. In practice, more power can be distributed in time in the process of vehicle uphill, and the unstable control condition caused by insufficient power of the vehicle is avoided. Further, the comfort of the autonomous vehicle can be improved.

As can be seen from fig. 2, compared with the description of some embodiments corresponding to fig. 1, the flow 200 of the vehicle posture information generating method in some embodiments corresponding to fig. 2 embodies the steps of generating the target vehicle posture information and sending the target vehicle posture information to the vehicle control end. Firstly, the representation capability of the target vehicle attitude information on the road popular structure of the road where the vehicle is located at the current time can be further improved by generating the target vehicle attitude information. Then, the target vehicle attitude information is sent to the vehicle control end, and prior information can be provided for the vehicle control end, so that the stability of vehicle control is improved through vehicle feedforward control. Thus, the comfort of the autonomous vehicle is improved.

With further reference to fig. 3, as an implementation of the methods illustrated in the above figures, the present disclosure provides some embodiments of a vehicle attitude information generation apparatus, which correspond to those method embodiments illustrated in fig. 2, and which may be particularly applicable in various electronic devices.

As shown in fig. 3, a vehicle attitude information generation device 300 of some embodiments includes: a determination unit 301, a first generation unit 302, a normalization processing unit 303, and a second generation unit 304. Wherein the determining unit 301 is configured to determine a vehicle movement distance value and a ground normal vector based on a predetermined vehicle positioning information sequence; a first generating unit 302 configured to generate a relative attitude matrix based on the ground normal vector and a preset initial unit vector in response to determining that the vehicle movement distance value satisfies a preset distance condition; a normalization processing unit 303 configured to perform normalization processing on the relative attitude matrix and the vehicle positioning information satisfying a preset time sequence condition in the vehicle positioning information sequence, respectively, to obtain a normalized relative attitude matrix and normalized vehicle positioning information; a second generating unit 304 configured to generate vehicle attitude information based on the normalized relative attitude matrix and the normalized vehicle positioning information, wherein the vehicle attitude information includes a target attitude matrix.

It will be appreciated that the units described in the apparatus 300 correspond to the various steps in the method described with reference to fig. 1. Thus, the operations, features and resulting advantages described above with respect to the method are also applicable to the apparatus 300 and the units included therein, and are not described herein again.

Referring now to fig. 4, a block diagram of an electronic device 400 suitable for use in implementing some embodiments of the present disclosure is shown. The electronic device shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.

As shown in fig. 4, electronic device 400 may include a processing device (e.g., central processing unit, graphics processor, etc.) 401 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 402 or a program loaded from a storage device 408 into a Random Access Memory (RAM) 403. In the RAM 403, various programs and data necessary for the operation of the electronic apparatus 400 are also stored. The processing device 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.

Generally, the following devices may be connected to the I/O interface 405: input devices 406 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 407 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 408 including, for example, tape, hard disk, etc.; and a communication device 409. The communication means 409 may allow the electronic device 400 to communicate wirelessly or by wire with other devices to exchange data. While fig. 4 illustrates an electronic device 400 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in fig. 4 may represent one device or may represent multiple devices as desired.

In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In some such embodiments, the computer program may be downloaded and installed from a network through the communication device 409, or from the storage device 408, or from the ROM 402. The computer program, when executed by the processing apparatus 401, performs the above-described functions defined in the methods of some embodiments of the present disclosure.

It should be noted that the computer readable medium described above in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having 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. In some embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.

The computer readable medium may be embodied in the apparatus; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: determining a vehicle moving distance value and a ground normal vector based on a predetermined vehicle positioning information sequence; generating a relative attitude matrix based on the ground normal vector and a preset initial unit vector in response to determining that the vehicle movement distance value meets a preset distance condition; respectively standardizing the relative attitude matrix and the vehicle positioning information which meets the preset time sequence condition in the vehicle positioning information sequence to obtain a standardized relative attitude matrix and standardized vehicle positioning information; generating vehicle attitude information based on the normalized relative attitude matrix and the normalized vehicle positioning information, wherein the vehicle attitude information includes a target attitude matrix.

Computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in some embodiments of the present disclosure may be implemented by software, and may also be implemented by hardware. The described units may also be provided in a processor, and may be described as: a processor includes a determination unit, a first generation unit, a normalization processing unit, and a second generation unit. Where the names of these units do not in some cases constitute a limitation of the unit itself, for example, the determination unit may also be described as a "unit that determines the vehicle movement distance value and the ground normal vector".

The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept as defined above. For example, the above features and (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.

Claims

1. A vehicle attitude information generation method, comprising:

determining a vehicle moving distance value and a ground normal vector based on a predetermined vehicle positioning information sequence;

generating a relative attitude matrix based on the ground normal vector and a preset initial unit vector in response to determining that the vehicle movement distance value meets a preset distance condition;

respectively standardizing the relative attitude matrix and the vehicle positioning information which meets the preset time sequence condition in the vehicle positioning information sequence to obtain a standardized relative attitude matrix and standardized vehicle positioning information;

generating vehicle attitude information based on the normalized relative attitude matrix and the normalized vehicle positioning information, wherein the vehicle attitude information includes a target attitude matrix.

2. The method of claim 1, wherein the method further comprises:

determining a pitch angle of the relative attitude matrix;

adding the pitch angle to the vehicle attitude information to obtain target vehicle attitude information;

and sending the target vehicle attitude information to a vehicle control end so that the vehicle control end can control the vehicle to move.

3. The method of claim 1, wherein the predetermined sequence of vehicle-location information is generated by:

acquiring vehicle inertia measurement data and wheel speed data;

and generating a vehicle positioning information sequence based on the vehicle inertia measurement data and the wheel speed data.

4. The method of claim 1, wherein the vehicle-localization information in the sequence of vehicle-localization information includes a rotation matrix and a translation vector; and

the determining a vehicle moving distance value and a ground normal vector based on the vehicle positioning information sequence comprises:

determining a translation distance value between translation vectors in every two adjacent pieces of vehicle positioning information in the vehicle positioning information sequence to obtain a translation distance value sequence;

and determining the sum of the translation distance values in the translation distance value sequence as the vehicle moving distance value.

5. The method of claim 4, wherein the determining a vehicle movement distance value and a ground normal vector based on the sequence of vehicle positioning information further comprises:

extracting a rotation matrix included in each piece of vehicle positioning information in the vehicle positioning information sequence to generate an initial normal vector, so as to obtain an initial normal vector sequence;

and carrying out low-pass filtering processing on each initial normal vector in the initial normal vector sequence to obtain a ground normal vector.

6. The method of claim 1, wherein the generating a relative attitude matrix based on the ground normal vector and a preset initial unit vector comprises:

determining a product of cross-multiplication between the ground normal vector and the initial unit vector as a rotation vector;

determining an inverse cosine value of a product of point multiplication between the ground normal vector and the initial unit vector as a rotation angle;

based on the rotation vector and the rotation angle, a relative attitude matrix is generated.

7. The method of claim 1, wherein the generating vehicle pose information based on the normalized relative pose matrix and the normalized vehicle positioning information comprises:

generating a to-be-processed attitude matrix based on the standardized relative attitude matrix and the standardized vehicle positioning information;

carrying out standardization processing on the attitude matrix to be processed to obtain a target attitude matrix;

and determining the target attitude matrix as vehicle attitude information.

8. A vehicle posture information generating apparatus comprising:

a determination unit configured to determine a vehicle movement distance value and a ground normal vector based on a predetermined vehicle positioning information sequence;

a first generating unit configured to generate a relative attitude matrix based on the ground normal vector and a preset initial unit vector in response to determining that the vehicle movement distance value satisfies a preset distance condition;

the standardization processing unit is configured to respectively standardize the relative attitude matrix and the vehicle positioning information which meets a preset time sequence condition in the vehicle positioning information sequence to obtain a standardized relative attitude matrix and standardized vehicle positioning information;

a second generation unit configured to generate vehicle attitude information based on the normalized relative attitude matrix and the normalized vehicle positioning information, wherein the vehicle attitude information includes a target attitude matrix.

9. An electronic device, comprising:

one or more processors;

a storage device having one or more programs stored thereon,

when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-7.

10. A computer-readable medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method of any one of claims 1-7.