CN117971810A - Method, device and equipment for correcting jump track data - Google Patents
Method, device and equipment for correcting jump track data Download PDFInfo
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Abstract
The embodiment of the specification discloses a method, a device and equipment for correcting jump track data, comprising the following steps: acquiring a vehicle track point sequence of a target vehicle; the vehicle track point sequence is used for reflecting the abscissa data of a plurality of continuous vehicle track points in frenet coordinate systems; determining at least one jump track point set from a vehicle track point sequence according to the abscissa data of a plurality of vehicle track points; the absolute value of the difference between the abscissa data of the jump track point contained in the jump track point set and the abscissa data of the previous vehicle track point of the jump track point is larger than a first threshold value; and correcting the vehicle track point sequence according to the abscissa data of at least part of the jump track points in the jump track point set to obtain a corrected vehicle track point sequence of the target vehicle. The scheme of the invention is beneficial to eliminating the influence of jump track data on original track data and improving the accuracy of the track data.
Description
Technical Field
The present disclosure relates to the field of data processing, and in particular, to a method, an apparatus, and a device for correcting jump track data.
Background
Various links of autopilot have a large amount of data recorded and generated, with varying quality of the data. At this time, the data often needs to be processed by using a filtering algorithm to expect more real data, but the real situation is that many data have jump, so that the data have jump data with larger difference from the true value. For example: the collected track data of the vehicle contains some unreasonable jump track data (generally, after the track data is converted into frenet coordinate system, the data that the transverse coordinates jump and exceed the normal range is determined as jump track data).
In the prior art, filtering processing is generally performed on original track data without removing jump track data by directly using a filtering algorithm, and the common filtering algorithm is as follows: kalman filter algorithm, mean filter algorithm, wavelet analysis algorithm, etc. However, these algorithms cannot completely eliminate the influence of the jump track data on the accuracy of the data, so that if the jump track data is contained in the filtered data, the processing effect of the filtering algorithm is reduced, resulting in lower accuracy and reliability of the filtered data.
Disclosure of Invention
In view of this, the embodiments of the present disclosure provide a method, an apparatus, and a device for correcting jump track data, which are used to eliminate the influence of the jump track data on the original track data and improve the accuracy of the track data.
In order to solve the above technical problems, the embodiments of the present specification are implemented as follows:
the embodiment of the specification provides a jump track data correction method, which comprises the following steps:
acquiring a vehicle track point sequence of a target vehicle; the vehicle track point sequence is used for reflecting the abscissa data of a plurality of continuous vehicle track points in frenet coordinate systems;
Determining at least one jump track point set from the vehicle track point sequence according to the abscissa data of a plurality of the vehicle track points; the absolute value of the difference between the abscissa data of the jump track point contained in the jump track point set and the abscissa data of the previous vehicle track point of the jump track point is larger than a first threshold value; aiming at any two hopping track point sets, the number of the vehicle track points at intervals between any one hopping track point in one hopping track point set and each hopping track point in the other hopping track point set is larger than a second threshold;
and correcting the vehicle track point sequence according to the abscissa data of at least part of the jump track points in the jump track point set to obtain a corrected vehicle track point sequence of the target vehicle.
The embodiment of the specification provides a jump track data correction device, which comprises:
The acquisition module is used for acquiring a vehicle track point sequence of the target vehicle; the vehicle track point sequence is used for reflecting the abscissa data of a plurality of continuous vehicle track points in frenet coordinate systems;
The determining module is used for determining at least one jump track point set from the vehicle track point sequence according to the abscissa data of the plurality of vehicle track points; the absolute value of the difference between the abscissa data of the jump track point contained in the jump track point set and the abscissa data of the previous vehicle track point of the jump track point is larger than a first threshold value; aiming at any two hopping track point sets, the number of the vehicle track points at intervals between any one hopping track point in one hopping track point set and each hopping track point in the other hopping track point set is larger than a second threshold;
And the correction module is used for correcting the vehicle track point sequence according to the abscissa data of at least part of the jump track points in the jump track point set to obtain a corrected vehicle track point sequence of the target vehicle.
The embodiment of the specification provides a jump track data correction device, which comprises:
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:
acquiring a vehicle track point sequence of a target vehicle; the vehicle track point sequence is used for reflecting the abscissa data of a plurality of continuous vehicle track points in frenet coordinate systems;
Determining at least one jump track point set from the vehicle track point sequence according to the abscissa data of a plurality of the vehicle track points; the absolute value of the difference between the abscissa data of the jump track point contained in the jump track point set and the abscissa data of the previous vehicle track point of the jump track point is larger than a first threshold value; aiming at any two hopping track point sets, the number of the vehicle track points at intervals between any one hopping track point in one hopping track point set and each hopping track point in the other hopping track point set is larger than a second threshold;
and correcting the vehicle track point sequence according to the abscissa data of at least part of the jump track points in the jump track point set to obtain a corrected vehicle track point sequence of the target vehicle.
At least one embodiment provided in this specification enables the following benefits:
After the vehicle track point sequence of the target vehicle is obtained, according to the abscissa data of each vehicle track point in the vehicle track point sequence, under the condition that the difference value of the abscissa data of any two adjacent vehicle track points is larger than a first threshold value, determining the vehicle track point with the rear position as a jump track point, and further determining at least one jump track point set; for any jump track point set, the vehicle track point sequence can be corrected according to the abscissa data of at least part of jump track points in the jump track point set, so as to obtain the corrected vehicle track point sequence of the target vehicle.
According to the scheme, firstly, the jump track points meeting the preset conditions are determined according to the abscissa data of each vehicle track point in the vehicle track point sequence, and then the jump track points are corrected, so that the influence of the jump track data on the original track data can be eliminated, the accuracy of the track data is improved, the processing effect of a filtering algorithm on the track data is improved, and the reliability of the filtered track data is improved.
Drawings
In order to more clearly illustrate the embodiments of the present description or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments described in the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a method for correcting jump track data according to an embodiment of the present disclosure;
FIG. 2a is a schematic diagram of a vehicle track point sequence according to an embodiment of the present disclosure;
FIG. 2b is a schematic illustration of a modified vehicle track point sequence corresponding to FIG. 2a provided in accordance with an embodiment of the present disclosure;
FIG. 2c is a schematic illustration of another modified vehicle track point sequence corresponding to FIG. 2a provided in accordance with an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a jump track data correction device corresponding to fig. 1 according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a jump track data correction device corresponding to fig. 1 according to an embodiment of the present disclosure.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of one or more embodiments of the present specification more clear, the technical solutions of one or more embodiments of the present specification will be clearly and completely described below in connection with specific embodiments of the present specification and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present specification. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without undue burden, are intended to be within the scope of one or more embodiments herein.
The following describes in detail the technical solutions provided by the embodiments of the present specification with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method for correcting trip track data according to an embodiment of the present disclosure. As shown in fig. 1, the process may include the steps of:
step 102: acquiring a vehicle track point sequence of a target vehicle; the vehicle track point sequence is used for reflecting abscissa data of a plurality of continuous vehicle track points in frenet coordinate systems.
In the embodiment of the present disclosure, frenet is a coordinate system established with a reference line parallel to the lane line, a vertical axis along the reference line direction, and a horizontal axis perpendicular to the reference line direction, and in general, a center line of the road may be used as the reference line. Because the transverse axis of the frenet coordinate system is perpendicular to the lane line, and the longitudinal axis of the frenet coordinate system is parallel to the lane line, the distance of the vehicle deviating from the central line of the road at each moment and the driving distance of the vehicle along the lane line can be more easily determined based on the frenet coordinate system, so that the influence of the curvature of the road can be ignored, and the position relationship between the road and the vehicle can be more simply and intuitively represented.
In this embodiment of the present disclosure, the sequence of vehicle track points of the target vehicle may be obtained by converting, by using a sensing device, original track data acquired during a process of driving the target vehicle on a certain road, where the sensing device may be a sensing device mounted on the target vehicle or a sensing device mounted on a road side, which is not limited specifically. Since the following embodiments in the embodiments of the present disclosure will explain the process of converting the original track data into the vehicle track point sequence of the target vehicle in detail, the description thereof will be omitted herein.
In the embodiment of the present disclosure, during the process of driving the target vehicle on the road, the track change of the target vehicle in the direction perpendicular to the lane line should be gradual, and no sudden jump with a large distance in the direction perpendicular to the lane line occurs. Therefore, the vehicle track point sequence of the target vehicle can be analyzed, and the vehicle track point generating jump along the transverse axis direction of the frenet coordinate system can be found through the transverse coordinate data of a plurality of continuous vehicle track points contained in the vehicle track point sequence in the frenet coordinate system.
Step 104: determining at least one jump track point set from the vehicle track point sequence according to the abscissa data of a plurality of the vehicle track points; the absolute value of the difference between the abscissa data of the jump track point contained in the jump track point set and the abscissa data of the previous vehicle track point of the jump track point is larger than a first threshold value; for any two of the hopping track point sets, the number of the vehicle track points at intervals between any one hopping track point in one of the hopping track point sets and each hopping track point in the other hopping track point set is greater than a second threshold.
In this embodiment of the present disclosure, the positions of a plurality of vehicle track points in the vehicle track point sequence may be continuously arranged, each vehicle track point may correspond to one abscissa data and a sequence position, and a vehicle track point whose abscissa data differs from that of a vehicle track point at a previous position by more than a first threshold value may be determined as the jump track point. The first threshold may be set and adjusted according to actual requirements, which is not limited in detail. For example: if the first threshold value is 3, the vehicle track point a and the vehicle track point B are two adjacent vehicle track points in the vehicle track point sequence, the vehicle track point a is located at the first 1 position of the vehicle track point B, the abscissa data of the vehicle track point a is 8, the abscissa data of the vehicle track point B is 4, and the difference value between the abscissa data of the vehicle track point a and the abscissa data of the vehicle track point B is 4 and is greater than 3, the vehicle track point B can be determined to be a jump track point.
In this embodiment of the present disclosure, if a plurality of jumping points are determined, the sequence of jumping points may be determined according to the positions of the jumping points in the sequence of vehicle points, and any two adjacent jumping points in the sequence of jumping points, where the number of the spaced vehicle points is greater than a second threshold, may be divided into different sets of jumping points according to the positions of each jumping point in the sequence of vehicle points. The second threshold may be set and adjusted according to actual requirements, which is not limited in detail. Since the following embodiments in the embodiments of the present disclosure will explain the process of dividing the hop-track point set in detail, they will not be described in detail herein.
Step 106: and correcting the vehicle track point sequence according to the abscissa data of at least part of the jump track points in the jump track point set to obtain a corrected vehicle track point sequence of the target vehicle.
In the embodiment of the present disclosure, after the jump track point set is determined, for any jump track point set, the jump track points included in the jump track point set are not necessarily all track points whose abscissa data differs from the true value greatly, and some track points whose abscissa data is close to the true value are also included in the jump track point set, so that the abscissa data of other jump track points can be corrected by using the abscissa data of the jump track points whose abscissa data is close to the true value, so that no jump track point exists in the corrected vehicle track point sequence.
According to the method in FIG. 1, firstly, jump track points meeting preset conditions are determined according to the abscissa data of each vehicle track point in the vehicle track point sequence, and then the jump track points are corrected, so that the influence of the jump track data on the original track data can be eliminated, the accuracy of the track data is improved, the processing effect of a filtering algorithm on the track data is improved, and the reliability of the filtered track data is improved.
Based on the method in fig. 1, the examples of the present specification also provide some specific embodiments of the method, as described below.
In the embodiment of the present disclosure, the position data of each vehicle track point in the original track data collected for the target vehicle is usually longitude and latitude data in the geodetic coordinate system, but not coordinate data in the frenet coordinate system collected directly, so that coordinate conversion is further required to obtain the coordinate data of each vehicle track point in the frenet coordinate system.
Based on this, the method in fig. 1 may further comprise:
Acquiring original track data acquired for the target vehicle; the original track data comprises position data of a plurality of vehicle track points and acquisition time information of each vehicle track point.
And calculating to obtain the abscissa data of each vehicle track point in the frenet coordinate system according to the position data of each vehicle track point in the original track data. And
And sequencing the vehicle track points according to the acquisition time information of the vehicle track points in the original track data and the sequence of the acquisition time from first to last to obtain the vehicle track point sequence of the target vehicle.
In the embodiment of the present disclosure, the sensing device for acquiring the original track data of the target vehicle may be a camera, may be a radar, may be a positioning sensing device of the target vehicle, and may also be any other device with a track data acquisition function, which is not limited specifically. The position data of the vehicle track point included in the original track data may be longitude and latitude coordinate data in a geodetic coordinate system, or may be position data in other coordinate systems, which is not particularly limited.
In the embodiment of the present disclosure, the abscissa data of each vehicle track point in the frenet coordinate system may be calculated based on the position data of each vehicle track point in the original track data by using a coordinate conversion method, and the method specifically used for coordinate conversion is not specifically limited.
In the embodiment of the present disclosure, in the process of acquiring the original track data for the target vehicle, the acquisition time of each vehicle track point may be marked by adding a timestamp, and the acquisition time of the vehicle track point may also be marked by adopting other timestamp methods, which is not particularly limited. Because the original track data contains the acquisition time information of each vehicle track point, the vehicle track points can be ordered according to the sequence of the acquisition time from first to last based on the acquisition time information of each vehicle track point. The ordered vehicle track point sequence may include the position serial number and the acquisition time information of each vehicle track point, and the position serial number of each vehicle track point and the acquisition time of each vehicle track point may be in positive correlation, that is: the earlier the acquisition time of the vehicle track point, the smaller the position serial number of the vehicle track point in the vehicle track point sequence, and the earlier the position.
Based on this, the method in fig. 1, the position number of the vehicle track point in the vehicle track point sequence is positively correlated with the acquisition time of the vehicle track point.
Correspondingly, the method in fig. 1, step 104: according to the abscissa data of the plurality of vehicle track points, determining at least one jump track point set from the vehicle track point sequence may specifically include:
Judging whether the absolute value of the difference between the abscissa data of the first vehicle track point and the abscissa data of the second vehicle track point is larger than the first threshold value or not according to any adjacent first vehicle track point and second vehicle track point in the vehicle track point sequence, and obtaining a first judging result; wherein the position number of the first vehicle track point is smaller than the position number of the second vehicle track point.
And if the first judgment result indicates that the absolute value of the difference between the abscissa data of the first vehicle track point and the abscissa data of the second vehicle track point is larger than the first threshold value, determining the second vehicle track point as a jump track point, and obtaining a jump track point total set.
And determining at least one jump track point set based on the jump track point total set.
In this embodiment of the present disclosure, if the absolute value of the difference between the abscissa data of each of two adjacent vehicle track points in the vehicle track point sequence is greater than the first threshold, the vehicle track point with the larger position sequence number in the two vehicle track points may be determined as a jump track point, so after all the vehicle track points in the vehicle track point sequence are traversed, all the jump track points in the vehicle track point sequence may be determined, and the jump track point total set is obtained.
In the embodiment of the present disclosure, fig. 2a is a schematic diagram of a vehicle track point sequence provided in the embodiment of the present disclosure. As shown in fig. 2a, the preset first threshold value is 4, the abscissa data of the vehicle track point 3 (3 represents the position number of the vehicle track point in the vehicle track point sequence is 3, and the same applies to the position number), the abscissa data of the vehicle track point 4 is 8, the absolute value of the difference value between the abscissa data of two adjacent vehicle track points is 6,6 is greater than 4, therefore, the vehicle track point 4 can be determined as a jump track point, and similarly, the vehicle track point 5, the vehicle track point 6, the vehicle track point 12, the vehicle track point 13, the vehicle track point 14 and the vehicle track point 15 can be determined as jump track points. Thus, the total set of hopping trace points may include: a hopping trace point 4, a hopping trace point 5, a hopping trace point 6, a hopping trace point 12, a hopping trace point 13, a hopping trace point 14, and a hopping trace point 15.
In the embodiment of the specification, after determining all the hopping track points in the vehicle track point sequence to obtain the hopping track point total set, the hopping track points with the position sequence numbers different from the preset threshold value in the vehicle track point sequence can be divided into different hopping track point sets, and then correction processing is carried out on each divided hopping track point set, so that the hopping track data can be corrected more finely, and the accuracy and precision of the correction of the hopping track data can be improved.
Based on this, the determining at least one hopping track point set based on the hopping track point total set may specifically include:
And sequencing the hopping track points in the total hopping track point set according to the sequence from the small position sequence number to the large position sequence number to obtain a hopping track point sequence.
Judging whether the absolute value of the difference between the position serial number of the third jump track point and the position serial number of the fourth jump track point is larger than a third threshold value or not according to any adjacent third jump track point and fourth jump track point in the jump track point sequence, and obtaining a second judging result; wherein the position sequence number of the third jump track point is smaller than the position sequence number of the fourth jump track point; the third threshold is greater than the second threshold by 1.
And if the second judgment result indicates that the absolute value of the difference between the position serial number of the third jump track point and the position serial number of the fourth jump track point is not greater than the third threshold value, dividing the third jump track point and the fourth jump track point into the same jump track point set.
And if the second judgment result indicates that the absolute value of the difference between the position serial number of the third jump track point and the position serial number of the fourth jump track point is larger than the third threshold value, dividing the fourth jump track point into the newly added jump track point set.
In this embodiment of the present disclosure, the second threshold may be set and adjusted as required, and the third threshold may be obtained after adding 1 to the second threshold. Continuing with the description based on fig. 2 a: the preset second threshold value is 4, the third threshold value is 5, the hopping track points in the hopping track point total set are ordered, and the hopping track points contained in the obtained hopping track point sequence are sequentially: a hopping track point 4, a hopping track point 5, a hopping track point 6, a hopping track point 12, a hopping track point 13, a hopping track point 14 and a hopping track point 15; the two hopping track points 6 and 12 are adjacent in the hopping track point sequence, but the absolute value of the difference value of the position sequence numbers between the two hopping track points is 6, and since 6 is larger than 5 (the third threshold value), the two hopping track points can be divided into a new hopping track point set from the hopping track point 12, and finally two hopping track point sets are obtained, wherein the hopping track point set 1 comprises a hopping track point 4, a hopping track point 5 and a hopping track point 6; the hopping track point set 2 includes a hopping track point 12, a hopping track point 13, a hopping track point 14, and a hopping track point 15.
In the embodiment of the present disclosure, for one trip track point set, in general, a trip track point with the largest position sequence number and a previous vehicle track point with the smallest position sequence number in the trip track point set are vehicle track points relatively close to the real situation, so that the abscissa data of other vehicle track points in the middle of the two vehicle track points can be corrected based on the abscissa data of the two vehicle track points, to obtain the corrected vehicle track point sequence of the target vehicle.
Based on this, the method in fig. 1, step 106: according to the abscissa data of at least part of the jump track points in the jump track point set, the vehicle track point sequence is corrected to obtain a corrected vehicle track point sequence of the target vehicle, which specifically comprises the following steps:
And acquiring the abscissa data of the first jump track point with the largest position sequence number in the jump track point set aiming at any jump track point set to obtain first abscissa data.
And acquiring the abscissa data of the previous vehicle track point in the vehicle track point sequence of the second jump track point with the minimum position sequence number in the jump track point set, and acquiring second abscissa data.
According to the first abscissa data and the second abscissa data, correcting the abscissa data of each vehicle track point in the vehicle track point sequence to be corrected to obtain corrected abscissa data of each vehicle track point in the vehicle track point sequence to be corrected; and the vehicle track point sequence to be corrected comprises all the vehicle track points from the second jump track point to the first jump track point in the vehicle track point sequence.
Determining at least part of corrected vehicle track point sequences of the target vehicle according to corrected abscissa data of each vehicle track point in the vehicle track point sequences to be corrected; wherein the modified vehicle track point sequence does not contain jump track points.
In the embodiment of the present specification, the description is continued based on fig. 2a, taking the jump track point set 1 as an example: the trip point with the largest position number in the trip point set 1 is a trip point 6, the abscissa data thereof is 2 (first abscissa data), the trip point with the smallest position number in the trip point set 1 is a trip point 4, the previous vehicle track point in the vehicle track point sequence is a vehicle track point 3, and the abscissa data of the vehicle track point 3 is 8 (second abscissa data), so that the correction processing can be performed on the abscissa data of the vehicle track point 4, the vehicle track point 5 and the vehicle track point 6 contained in the vehicle track point sequence to be corrected according to 2 (first abscissa data) and 8 (second abscissa data) (wherein, the vehicle track point 4 and the trip point 4 are the same track point, and the other is the same).
In this embodiment of the present disclosure, according to the first abscissa data and the second abscissa data, a difference value between corrected abscissa data of any two adjacent vehicle track points in the corrected vehicle track point sequence may be set as a fixed value, and correction processing may be performed on the abscissa data of each vehicle track point in the corrected vehicle track point sequence.
Based on this, the correcting process is performed on the abscissa data of each vehicle track point in the vehicle track point sequence to be corrected according to the first abscissa data and the second abscissa data, so as to obtain corrected abscissa data of each vehicle track point in the vehicle track point sequence to be corrected, which specifically may include:
And carrying out difference on the first abscissa data and the second abscissa data to obtain a first difference value.
And the position serial number of the first jump track point is differed from the position serial number of the previous vehicle track point in the vehicle track point sequence of the second jump track point, so that a second difference value is obtained.
And multiplying the first difference value and the second difference value to obtain a corrected value.
And calculating the corrected abscissa data of each vehicle track point in the vehicle track point sequence to be corrected by using a preset equation based on the corrected value.
The preset equation is:
Xn+m＝Xn+m×h
Wherein X n represents abscissa data of a previous vehicle track point in the vehicle track point sequence of the second jump track point; h represents the correction value; x n+m represents the corrected abscissa data of the mth vehicle track point in the vehicle track point sequence to be corrected.
In the embodiment of the present disclosure, the correction value may correspond to a difference between corrected abscissa data of any two adjacent vehicle track points in the corrected vehicle track point sequence. The correction value may be a positive value or a negative value, and is not particularly limited.
In the embodiment of the present specification, the description is continued based on fig. 2a, taking the jump track point set 1 as an example: the first abscissa data (the abscissa data of the jump track point 6) in the jump track point set 1 is 2, the second abscissa data (the abscissa data of the vehicle track point 3) is 8, and the first difference value is-6 (2-8= -6); the jump track point with the largest position sequence number (the first jump track point) in the jump track point set 1 is a jump track point 6, the jump track point with the smallest position sequence number (the second jump track point) is a jump track point 4, the previous vehicle track point in the vehicle track point sequence is a vehicle track point 3, and a second difference value is calculated to be 3 (6-3=3); the correction value is-2 (-6/3= -2). Calculating corrected abscissa data of each vehicle track point in the vehicle track point sequence to be corrected based on a preset equation: in the preset equation, when m=1, X n = 8,h = -2, and when m=1, the corrected abscissa data of the 1 st vehicle track point (vehicle track point 4) in the vehicle track point sequence to be corrected=8-2=6, the corrected abscissa data of the vehicle track point 5 can be calculated to be 4, and the corrected abscissa data of the vehicle track point 6 can be calculated to be 2. The vehicle track points 12, 13, 14 and 15 in the jump track point set 2 are corrected by the same method, so as to obtain a schematic diagram of the corrected vehicle track point sequence shown in fig. 2 b.
In this embodiment of the present disclosure, in performing correction processing on the abscissa data of each vehicle track point in the vehicle track point sequence to be corrected according to the first abscissa data and the second abscissa data, the difference between the corrected abscissa data of any two adjacent vehicle track points in the corrected vehicle track point sequence to be corrected may also be different from a fixed value, for example: the corrected vehicle track points in the vehicle track point sequence to be corrected can be located on a section of smooth curve, so that the corrected vehicle track is smoother.
Based on this, the correcting process is performed on the abscissa data of each vehicle track point in the vehicle track point sequence to be corrected according to the first abscissa data and the second abscissa data, so as to obtain corrected abscissa data of each vehicle track point in the vehicle track point sequence to be corrected, which specifically may further include:
Generating a smooth curve in a preset coordinate system according to the first abscissa data and the second abscissa data; and the abscissa of the preset coordinate system is the position serial number of the vehicle track point, and the ordinate is the abscissa data of the vehicle track point.
And determining corrected abscissa data of each vehicle track point in the vehicle track point sequence to be corrected according to the smooth curve.
In this embodiment of the present disclosure, a smooth curve may be made from the vehicle track point corresponding to the second abscissa data to the vehicle track point corresponding to the first abscissa data, and the abscissa data of each point on the smooth curve is progressive from the second abscissa data to the first abscissa data. After the smooth curve is obtained, according to the position serial number of a certain vehicle track point in the vehicle track point sequence to be corrected in a preset coordinate system, the abscissa data corresponding to the position serial number on the smooth curve can be determined, and the corrected abscissa data of the vehicle track point can be obtained.
In the embodiment of the present disclosure, fig. 2c is a schematic diagram of another modified vehicle track point sequence corresponding to fig. 2a provided in the embodiment of the present disclosure. As shown in fig. 2c, the abscissa of the preset coordinate system corresponds to the position number of the vehicle track point, and the ordinate corresponds to the abscissa data of the vehicle track point; a smooth curve is formed between the vehicle track points 3 and 6, the abscissa data of each point on the curve is gradually changed from 8 (the abscissa data of the vehicle track points 3) to 2 (the abscissa data of the vehicle track points 6), and after the smooth curve is generated, the corresponding corrected abscissa data can be determined based on the smooth curve according to the respective position serial numbers of the vehicle track points 4 and 5, so as to obtain the corrected abscissa data of each vehicle track point in the vehicle track point sequence to be corrected.
Based on the same thought, the embodiment of the specification also provides a device corresponding to the method. Fig. 3 is a schematic structural diagram of a jump track data correction device corresponding to fig. 1 according to an embodiment of the present disclosure. As shown in fig. 3, the apparatus may include:
An acquisition module 302, configured to acquire a vehicle track point sequence of a target vehicle; the vehicle track point sequence is used for reflecting abscissa data of a plurality of continuous vehicle track points in frenet coordinate systems.
A determining module 304, configured to determine at least one jump track point set from the vehicle track point sequence according to the abscissa data of the plurality of vehicle track points; the absolute value of the difference between the abscissa data of the jump track point contained in the jump track point set and the abscissa data of the previous vehicle track point of the jump track point is larger than a first threshold value; for any two of the hopping track point sets, the number of the vehicle track points at intervals between any one hopping track point in one of the hopping track point sets and each hopping track point in the other hopping track point set is greater than a second threshold.
And the correction module 306 is configured to perform correction processing on the vehicle track point sequence according to the abscissa data of at least part of the jump track points in the jump track point set, so as to obtain a corrected vehicle track point sequence of the target vehicle.
The present description example also provides some specific embodiments of the device based on the device of fig. 3, which is described below.
Optionally, the position sequence number of the vehicle track point in the vehicle track point sequence is positively correlated with the acquisition time of the vehicle track point.
Correspondingly, in the apparatus of fig. 3, the correction module 306 may specifically include:
The first acquisition sub-module is used for acquiring the abscissa data of the first jump track point with the largest position sequence number in the jump track point set aiming at any jump track point set to obtain first abscissa data.
And the second acquisition sub-module is used for acquiring the abscissa data of the previous vehicle track point in the vehicle track point sequence of the second jump track point with the minimum position sequence number in the jump track point set to obtain second abscissa data.
The correction sub-module is used for carrying out correction processing on the abscissa data of each vehicle track point in the vehicle track point sequence to be corrected according to the first abscissa data and the second abscissa data to obtain corrected abscissa data of each vehicle track point in the vehicle track point sequence to be corrected; and the vehicle track point sequence to be corrected comprises all the vehicle track points from the second jump track point to the first jump track point in the vehicle track point sequence.
The determining submodule is used for determining at least part of the corrected vehicle track point sequence of the target vehicle according to the corrected abscissa data of each vehicle track point in the vehicle track point sequence to be corrected; wherein the modified vehicle track point sequence does not contain jump track points.
Optionally, the correction submodule may specifically include:
And the first calculation unit is used for carrying out difference on the first abscissa data and the second abscissa data to obtain a first difference value.
And the second calculation unit is used for making a difference between the position serial number of the first jump track point and the position serial number of the previous vehicle track point in the vehicle track point sequence of the second jump track point to obtain a second difference value.
And the third calculation unit is used for multiplying the first difference value and the second difference value to obtain a corrected value.
And the fourth calculation unit is used for calculating the corrected abscissa data of each vehicle track point in the vehicle track point sequence to be corrected by using a preset equation based on the correction value.
The preset equation is:
Xn+m＝Xn+m×h
Wherein X n represents abscissa data of a previous vehicle track point in the vehicle track point sequence of the second jump track point; h represents the correction value; x n+m represents the corrected abscissa data of the mth vehicle track point in the vehicle track point sequence to be corrected.
Optionally, the correction submodule may specifically further include:
The generating unit is used for generating a smooth curve in a preset coordinate system according to the first abscissa data and the second abscissa data; and the abscissa of the preset coordinate system is the position serial number of the vehicle track point, and the ordinate is the abscissa data of the vehicle track point.
And the determining unit is used for determining corrected abscissa data of each vehicle track point in the vehicle track point sequence to be corrected according to the smooth curve.
Optionally, in the apparatus of fig. 3, the determining module 304 may specifically include:
The judging submodule is used for judging whether the absolute value of the difference between the abscissa data of the first vehicle track point and the abscissa data of the second vehicle track point is larger than the first threshold value or not according to any adjacent first vehicle track point and second vehicle track point in the vehicle track point sequence, so as to obtain a first judging result; wherein the position number of the first vehicle track point is smaller than the position number of the second vehicle track point.
And the first determining submodule is used for determining the second vehicle track point as a jump track point to obtain a jump track point total set if the first judging result indicates that the absolute value of the difference between the abscissa data of the first vehicle track point and the abscissa data of the second vehicle track point is larger than the first threshold value.
And the second determining submodule is used for determining at least one jump track point set based on the jump track point total set.
Optionally, the second determining sub-module may specifically include:
And the sequencing unit is used for sequencing the hopping track points in the total hopping track point set according to the sequence from the small position sequence number to the large position sequence number to obtain a hopping track point sequence.
The judging unit is used for judging whether the absolute value of the difference between the position serial number of the third jump track point and the position serial number of the fourth jump track point is larger than a third threshold value or not according to any adjacent third jump track point and fourth jump track point in the jump track point sequence, so as to obtain a second judging result; wherein the position sequence number of the third jump track point is smaller than the position sequence number of the fourth jump track point; the third threshold is greater than the second threshold by 1.
And the first dividing unit is used for dividing the third jump track point and the fourth jump track point into the same jump track point set if the second judgment result indicates that the absolute value of the difference between the position serial number of the third jump track point and the position serial number of the fourth jump track point is not greater than the third threshold value.
And the second dividing unit is used for dividing the fourth jump track point into the newly added jump track point set if the second judgment result indicates that the absolute value of the difference between the position serial number of the third jump track point and the position serial number of the fourth jump track point is larger than the third threshold value.
Optionally, the apparatus in fig. 3 may further include:
the original track data acquisition module is used for acquiring the original track data acquired for the target vehicle; the original track data comprises position data of a plurality of vehicle track points and acquisition time information of each vehicle track point.
And the calculation module is used for calculating and obtaining the abscissa data of each vehicle track point in the frenet coordinate system according to the position data of each vehicle track point in the original track data.
The sequencing module is used for sequencing the vehicle track points according to the acquisition time information of the vehicle track points in the original track data and the sequence of the vehicle track points of the target vehicle from the beginning to the end according to the acquisition time.
Fig. 4 is a schematic structural diagram of a jump track data correction device corresponding to fig. 1 according to an embodiment of the present disclosure. As shown in fig. 4, the apparatus 400 may include:
at least one processor 410; and
A memory 430 communicatively coupled to the at least one processor; wherein,
The memory 430 stores instructions 420 executable by the at least one processor 410, the instructions being executable by the at least one processor 410 to enable the at least one processor 410 to:
acquiring a vehicle track point sequence of a target vehicle; the vehicle track point sequence is used for reflecting abscissa data of a plurality of continuous vehicle track points in frenet coordinate systems.
Determining at least one jump track point set from the vehicle track point sequence according to the abscissa data of a plurality of the vehicle track points; the absolute value of the difference between the abscissa data of the jump track point contained in the jump track point set and the abscissa data of the previous vehicle track point of the jump track point is larger than a first threshold value; for any two of the hopping track point sets, the number of the vehicle track points at intervals between any one hopping track point in one of the hopping track point sets and each hopping track point in the other hopping track point set is greater than a second threshold.
And correcting the vehicle track point sequence according to the abscissa data of at least part of the jump track points in the jump track point set to obtain a corrected vehicle track point sequence of the target vehicle.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the apparatus shown in fig. 4, the description is relatively simple, as it is substantially similar to the method embodiment, with reference to the partial description of the method embodiment.
In the 90 s of the 20 th century, improvements to one technology could clearly be distinguished as improvements in hardware (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) or software (improvements to the process flow). However, with the development of technology, many improvements of the current method flows can be regarded as direct improvements of hardware circuit structures. Designers almost always obtain corresponding hardware circuit structures by programming improved method flows into hardware circuits. Therefore, an improvement of a method flow cannot be said to be realized by a hardware entity module. For example, a programmable logic device (Programmable Logic Device, PLD) (e.g., field programmable gate array (Field Programmable GATE ARRAY, FPGA)) is an integrated circuit whose logic functions are determined by user programming of the device. A designer programs to "integrate" a digital system onto a PLD without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Moreover, nowadays, instead of manually manufacturing integrated circuit chips, such programming is mostly implemented with "logic compiler (logic compiler)" software, which is similar to the software compiler used in program development and writing, and the original code before being compiled is also written in a specific programming language, which is called hardware description language (Hardware Description Language, HDL), but HDL is not just one, but a plurality of kinds, such as ABEL(Advanced Boolean Expression Language)、AHDL(Altera Hardware Description Language)、Confluence、CUPL(Cornell University Programming Language)、HDCal、JHDL(Java Hardware Description Language)、Lava、Lola、MyHDL、PALASM、RHDL(Ruby Hardware Description Language), and VHDL (Very-High-SPEED INTEGRATED Circuit Hardware Description Language) and Verilog are currently most commonly used. It will also be apparent to those skilled in the art that a hardware circuit implementing the logic method flow can be readily obtained by merely slightly programming the method flow into an integrated circuit using several of the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer readable medium storing computer readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, application SPECIFIC INTEGRATED Circuits (ASICs), programmable logic controllers, and embedded microcontrollers, examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, atmel AT91SAM, microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic of the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller may thus be regarded as a kind of hardware component, and means for performing various functions included therein may also be regarded as structures within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.
The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. One typical implementation is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functions of each element may be implemented in one or more software and/or hardware elements when implemented in the present specification.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The foregoing is merely exemplary of the present disclosure and is not intended to limit the disclosure. Various modifications and alterations to this specification will become apparent to those skilled in the art. Any modifications, equivalent substitutions, improvements, or the like, which are within the spirit and principles of the present description, are intended to be included within the scope of the claims of the present description.
Claims (10)
1. The jump track data correction method is characterized by comprising the following steps:
acquiring a vehicle track point sequence of a target vehicle; the vehicle track point sequence is used for reflecting the abscissa data of a plurality of continuous vehicle track points in frenet coordinate systems;
Determining at least one jump track point set from the vehicle track point sequence according to the abscissa data of a plurality of the vehicle track points; the absolute value of the difference between the abscissa data of the jump track point contained in the jump track point set and the abscissa data of the previous vehicle track point of the jump track point is larger than a first threshold value; aiming at any two hopping track point sets, the number of the vehicle track points at intervals between any one hopping track point in one hopping track point set and each hopping track point in the other hopping track point set is larger than a second threshold;
and correcting the vehicle track point sequence according to the abscissa data of at least part of the jump track points in the jump track point set to obtain a corrected vehicle track point sequence of the target vehicle.
2. The method of claim 1, wherein the position sequence number of the vehicle track point in the sequence of vehicle track points is positively correlated with the acquisition time of the vehicle track point;
the step of correcting the vehicle track point sequence according to the abscissa data of at least part of the jump track points in the jump track point set to obtain a corrected vehicle track point sequence of the target vehicle specifically comprises the following steps:
For any one of the jump track point sets, acquiring the abscissa data of a first jump track point with the largest position sequence number in the jump track point set to obtain first abscissa data;
Acquiring the abscissa data of the previous vehicle track point in the vehicle track point sequence of the second jump track point with the minimum position sequence number in the jump track point set, and acquiring second abscissa data;
According to the first abscissa data and the second abscissa data, correcting the abscissa data of each vehicle track point in the vehicle track point sequence to be corrected to obtain corrected abscissa data of each vehicle track point in the vehicle track point sequence to be corrected; all vehicle track points from the second jump track point to the first jump track point in the vehicle track point sequence are contained in the vehicle track point sequence to be corrected;
Determining at least part of corrected vehicle track point sequences of the target vehicle according to corrected abscissa data of each vehicle track point in the vehicle track point sequences to be corrected; wherein the modified vehicle track point sequence does not contain jump track points.
3. The method according to claim 2, wherein the correcting the abscissa data of each vehicle track point in the vehicle track point sequence to be corrected according to the first abscissa data and the second abscissa data to obtain corrected abscissa data of each vehicle track point in the vehicle track point sequence to be corrected specifically includes:
the first abscissa data and the second abscissa data are subjected to difference to obtain a first difference value;
the position serial number of the first jump track point is differenced with the position serial number of the previous vehicle track point of the second jump track point in the vehicle track point sequence, so that a second difference value is obtained;
the first difference value and the second difference value are used as a quotient to obtain a corrected value;
Calculating the corrected abscissa data of each vehicle track point in the vehicle track point sequence to be corrected by using a preset equation based on the corrected value;
The preset equation is:
Xn+m＝Xn+m×h
Wherein X n represents abscissa data of a previous vehicle track point in the vehicle track point sequence of the second jump track point; h represents the correction value; x n+m represents the corrected abscissa data of the mth vehicle track point in the vehicle track point sequence to be corrected.
4. The method according to claim 2, wherein the correcting the abscissa data of each vehicle track point in the vehicle track point sequence to be corrected according to the first abscissa data and the second abscissa data to obtain corrected abscissa data of each vehicle track point in the vehicle track point sequence to be corrected specifically includes:
Generating a smooth curve in a preset coordinate system according to the first abscissa data and the second abscissa data; the abscissa of the preset coordinate system is the position serial number of the vehicle track point, and the ordinate is the abscissa data of the vehicle track point;
and determining corrected abscissa data of each vehicle track point in the vehicle track point sequence to be corrected according to the smooth curve.
5. The method of claim 1, wherein the position sequence number of the vehicle track point in the sequence of vehicle track points is positively correlated with the acquisition time of the vehicle track point;
And determining at least one jump track point set from the vehicle track point sequence according to the abscissa data of the vehicle track points, wherein the jump track point set comprises the following specific steps:
Judging whether the absolute value of the difference between the abscissa data of the first vehicle track point and the abscissa data of the second vehicle track point is larger than the first threshold value or not according to any adjacent first vehicle track point and second vehicle track point in the vehicle track point sequence, and obtaining a first judging result; wherein the position number of the first vehicle track point is smaller than the position number of the second vehicle track point;
If the first judgment result indicates that the absolute value of the difference between the abscissa data of the first vehicle track point and the abscissa data of the second vehicle track point is larger than the first threshold value, determining the second vehicle track point as a jump track point to obtain a jump track point total set;
And determining at least one jump track point set based on the jump track point total set.
6. The method of claim 5, wherein the determining at least one of the set of hopping trace points based on the total set of hopping trace points comprises:
sequencing the hopping track points in the total hopping track point set according to the sequence from the small position sequence number to the large position sequence number to obtain a hopping track point sequence;
Judging whether the absolute value of the difference between the position serial number of the third jump track point and the position serial number of the fourth jump track point is larger than a third threshold value or not according to any adjacent third jump track point and fourth jump track point in the jump track point sequence, and obtaining a second judging result; wherein the position sequence number of the third jump track point is smaller than the position sequence number of the fourth jump track point; the third threshold is greater than the second threshold by 1;
If the second judgment result indicates that the absolute value of the difference between the position serial number of the third jump track point and the position serial number of the fourth jump track point is not greater than the third threshold value, dividing the third jump track point and the fourth jump track point into the same jump track point set;
And if the second judgment result indicates that the absolute value of the difference between the position serial number of the third jump track point and the position serial number of the fourth jump track point is larger than the third threshold value, dividing the fourth jump track point into the newly added jump track point set.
7. The method of claim 1, wherein prior to the acquiring the sequence of vehicle trajectory points for the target vehicle, further comprising:
acquiring original track data acquired for the target vehicle; the original track data comprises position data of a plurality of vehicle track points and acquisition time information of each vehicle track point;
According to the position data of each vehicle track point in the original track data, calculating to obtain the abscissa data of each vehicle track point in the frenet coordinate system; and
And sequencing the vehicle track points according to the acquisition time information of the vehicle track points in the original track data and the sequence of the acquisition time from first to last to obtain the vehicle track point sequence of the target vehicle.
8. A hopping track data correction device, characterized by comprising:
The acquisition module is used for acquiring a vehicle track point sequence of the target vehicle; the vehicle track point sequence is used for reflecting the abscissa data of a plurality of continuous vehicle track points in frenet coordinate systems;
The determining module is used for determining at least one jump track point set from the vehicle track point sequence according to the abscissa data of the plurality of vehicle track points; the absolute value of the difference between the abscissa data of the jump track point contained in the jump track point set and the abscissa data of the previous vehicle track point of the jump track point is larger than a first threshold value; aiming at any two hopping track point sets, the number of the vehicle track points at intervals between any one hopping track point in one hopping track point set and each hopping track point in the other hopping track point set is larger than a second threshold;
And the correction module is used for correcting the vehicle track point sequence according to the abscissa data of at least part of the jump track points in the jump track point set to obtain a corrected vehicle track point sequence of the target vehicle.
9. The apparatus of claim 8, wherein a position number of the vehicle track point in the sequence of vehicle track points is positively correlated with an acquisition time of the vehicle track point; the correction module specifically comprises:
The first acquisition submodule is used for acquiring the abscissa data of the first jump track point with the largest position sequence number in any jump track point set to obtain first abscissa data;
the second acquisition submodule is used for acquiring the abscissa data of the previous vehicle track point in the vehicle track point sequence of the second jump track point with the minimum position sequence number in the jump track point set to obtain second abscissa data;
The correction sub-module is used for carrying out correction processing on the abscissa data of each vehicle track point in the vehicle track point sequence to be corrected according to the first abscissa data and the second abscissa data to obtain corrected abscissa data of each vehicle track point in the vehicle track point sequence to be corrected; all vehicle track points from the second jump track point to the first jump track point in the vehicle track point sequence are contained in the vehicle track point sequence to be corrected;
The determining submodule is used for determining at least part of the corrected vehicle track point sequence of the target vehicle according to the corrected abscissa data of each vehicle track point in the vehicle track point sequence to be corrected; wherein the modified vehicle track point sequence does not contain jump track points.
10. A hopping track data correction device, characterized by 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:
acquiring a vehicle track point sequence of a target vehicle; the vehicle track point sequence is used for reflecting the abscissa data of a plurality of continuous vehicle track points in frenet coordinate systems;
Determining at least one jump track point set from the vehicle track point sequence according to the abscissa data of a plurality of the vehicle track points; the absolute value of the difference between the abscissa data of the jump track point contained in the jump track point set and the abscissa data of the previous vehicle track point of the jump track point is larger than a first threshold value; aiming at any two hopping track point sets, the number of the vehicle track points at intervals between any one hopping track point in one hopping track point set and each hopping track point in the other hopping track point set is larger than a second threshold;
and correcting the vehicle track point sequence according to the abscissa data of at least part of the jump track points in the jump track point set to obtain a corrected vehicle track point sequence of the target vehicle.
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