WO2018053921A1

WO2018053921A1 - Traveling trajectory determination method and device thereof

Info

Publication number: WO2018053921A1
Application number: PCT/CN2016/105792
Authority: WO
Inventors: 刘均; 李旭鹏
Original assignee: 深圳市元征科技股份有限公司
Priority date: 2016-09-22
Filing date: 2016-11-14
Publication date: 2018-03-29
Also published as: CN106525033A

Abstract

A traveling trajectory determination method, comprising: obtaining correction coordinate values and multiple historical location coordinate values of a vehicle (101); determining a traveling direction angle and a traveling acceleration of the vehicle passing through a correction coordinate point according to the correction coordinate values and the multiple historical location coordinate values (102); correcting, on the basis of the traveling direction angle and the traveling acceleration, a measured direction angle obtained by a gyroscope and a measured acceleration obtained by a gravity sensor in a traveling trajectory determination device, so as to obtain a target direction angle and a target acceleration (103); determining coordinate values of a current location of the vehicle according to the target acceleration, the target direction angle, a speed of passing through a previous historical location that is temporally adjacent to the current location and coordinates of the previous historical location that is temporally adjacent to the current location (104); and determining, according to the coordinates of the current location and the coordinates of multiple historical locations, a trajectory along which the vehicle is going to travel (105). The trajectory along which the vehicle is going to travel is determined by using the method, so that a traffic accident can be effectively prevented.

Description

Method for determining driving trajectory and device thereof

[0001] This application claims the priority of the domestic patent application filed on September 22, 2016, the National Intellectual Property Office, the application number is 201610841603.3, and the invention name is "a method for determining the trajectory and its device". This is incorporated herein by reference.

Technical Field

[0003] The present invention relates to the field of traffic safety warning, and particularly relates to a method and device for determining a driving trajectory.

BACKGROUND OF THE INVENTION

[0005] In people's daily work and life, cars have become an indispensable means of transportation. However, the occurrence of traffic accidents has caused property damage or personal injury, and even life-threatening. Therefore, traffic safety warning has become the focus of attention.

[0006] The key technology in traffic safety warning is the determination of the driving trajectory. Currently, the usual way to determine the trajectory of a vehicle is to continuously obtain the vehicle position coordinate information through the Global Positioning System (GPS) to determine the trajectory of the vehicle. However, due to the low frequency (1HZ) of the position coordinate information acquired by the GPS, and the influence of the surrounding environment, it is possible that the position information cannot be obtained in the long time, and the demand for the trajectory of the vehicle to be traveled cannot be satisfied. The gyroscope and the gravity sensor mounted on the vehicle obtain a high frequency of the positional coordinates, but since the data measured by the gyroscope and the gravity sensor have an error, the trajectory of the vehicle to be traveled by the coordinates of the error is not accurate.

SUMMARY OF THE INVENTION

[0008] The embodiment of the invention discloses a method and a device for determining a driving trajectory, which can accurately determine a to-be-traveled trajectory of a vehicle, thereby effectively preventing the occurrence of a traffic accident.

A first aspect of the embodiments of the present invention provides a method for determining a driving trajectory, including:

[0010] acquiring a corrected coordinate value of the vehicle and a plurality of historical position coordinate values;

[0011] determining, according to the modified coordinate value and the plurality of historical position coordinate values, a traveling direction angle and a traveling acceleration of the vehicle by correcting the coordinate point;

[0012] correcting a measurement direction angle obtained by gyroscope measurement in the determining device of the driving trajectory based on the traveling direction angle to obtain a target direction angle; and correcting the device based on the traveling acceleration The gravity sensor in the measurement measures the obtained measured acceleration to obtain the target acceleration;

[0013] determining a current position coordinate of the vehicle according to the target acceleration, the target direction angle, the speed of the adjacent previous historical position by engraving the current position, and the coordinate value of the previous previous historical position engraved with the current position Value

[0014] determining a to-be-traveled track of the vehicle according to the coordinate value of the current position and the coordinate value of the plurality of historical positions.

[0015] A second aspect of the embodiments of the present invention provides a device for determining a trajectory of a vehicle, including:

[0016] an obtaining module, configured to acquire a corrected coordinate value of the vehicle and a plurality of historical position coordinate values;

[0017] a first determining module, configured to determine, according to the modified coordinate value and the plurality of historical position coordinate values, a traveling direction angle and a traveling acceleration of the vehicle by correcting the coordinate point;

[0018] The first correction module corrects a measurement direction angle obtained by the gyroscope measurement in the determining device of the driving trajectory based on the traveling direction angle to obtain a target direction angle;

[0019] a second correction module correcting the measured acceleration obtained by the gravity sensor measurement in the device based on the traveling acceleration to obtain a target acceleration;

[0020] a second determining module, configured to: according to the target acceleration, a target direction angle, a speed by engraving an adjacent previous historical position with a current position, and a coordinate of the previous historical position adjacent to the current position Value to determine the current position coordinate value of the vehicle;

[0021] The third determining module is configured to determine a to-be-traveled trajectory of the vehicle according to the coordinate value of the current location and the coordinate value of the multiple historical locations.

[0022] A third aspect of the embodiments of the present invention provides a device for determining a trajectory of a vehicle, including:

[0023] a memory storing executable program code;

[0024] a processor coupled to the memory;

[0025] The processor invokes the executable program code stored in the memory to perform some or all of the steps as described in the first aspect of the embodiments of the present invention.

[0026] It can be seen that, in the solution of the embodiment of the present invention, first, through the traveling direction angle of the vehicle, the measurement direction angle obtained by the gyroscope measurement is corrected to obtain the target direction angle; and the traveling acceleration of the vehicle is The measured acceleration obtained by the gravity sensor is corrected to obtain the target acceleration. Secondly, obtain the accurate coordinate value of the current position of the vehicle through the target direction angle and the target acceleration, and finally, through the current The exact coordinate value of the position and the accurate coordinate value of the plurality of historical positions determine the trajectory of the vehicle to be traveled. It can be seen that compared with the prior art, the solution corrects the measurement direction angle and the measurement acceleration obtained by the measurement of the gyroscope and the gravity sensor respectively, thereby obtaining an accurate vehicle to be traveled trajectory, thereby effectively preventing the occurrence of traffic accidents. .

[0027] These and other aspects of the invention will be more apparent from the following description of the embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings to be used in the embodiments or the prior art description will be briefly described below, and obviously, in the following description The drawings are only some of the embodiments of the present invention, and other drawings may be obtained from those skilled in the art without departing from the drawings.

1 is a schematic flow chart of a method for determining a driving trajectory according to an embodiment of the present invention;

2 is a schematic flow chart of another method for determining a driving trajectory according to an embodiment of the present invention;

3 is a schematic diagram of a device for determining a driving trajectory according to an embodiment of the present invention;

4 is a partial schematic view showing a device for determining a driving trajectory according to an embodiment of the present invention;

[0034] FIG. 5 is a partial intent of a device for determining a driving trajectory according to another embodiment of the present invention;

6 is a schematic diagram of another apparatus for determining a driving trajectory according to an embodiment of the present invention.

DETAILED DESCRIPTION

The technical solutions in the embodiments of the present invention will be clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. The embodiments are merely a part of the embodiments of the invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without departing from the inventive scope should fall within the scope of the present invention.

[0038] Each of the following detailed description will be given.

[0039] The terms "first", "second", "third", and "fourth" and the like in the specification and claims of the present invention are used to distinguish different objects, and are not used for Describe a specific order. Furthermore, the terms "comprises" and "comprising" and "the" and "the" are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or device that comprises a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units not listed, or, optionally, For these processes, methods , other steps or units inherent to the product or equipment.

[0040] References to "embodiments" herein mean that the specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the invention. The appearances of the phrases in various places in the specification are not necessarily referring to the same embodiments, and are not exclusive or alternative embodiments that are mutually exclusive. Those skilled in the art will understand and implicitly understand that the embodiments described herein can be combined with other embodiments.

Referring to FIG. 1, FIG. 1 is a schematic flow chart of a method for determining a driving trajectory according to an embodiment of the present invention.

As shown in FIG. 1 , a method for determining a driving trajectory according to an embodiment of the present invention may include: [0042] 101. A driving trajectory determining device acquires a corrected coordinate value of the vehicle and a plurality of historical position coordinate values.

[0043] wherein the vehicle correction coordinate value is obtained by a GPS device or other positioning device (for example, a Beidou system positioning device, a Galileo system positioning device, a GLONASS system positioning device) in the determining device of the driving track. The above coordinate value is, for example, a value in units of km, and may be a latitude and longitude value. If the above coordinate value is the latitude and longitude value, the above-described driving trajectory determining means can convert the latitude and longitude value into a value in km.

[0044] wherein the determining means of the driving trajectory acquires one of the vehicle correction coordinate values every interval T. The above-mentioned time T can be ls, or 2s or other values.

[0045] It can be understood that the determining device of the driving trajectory separately corrects the measurement direction angle and the measured acceleration obtained by the measurement of the gyroscope and the gravity sensor in the device after acquiring one of the vehicle correction coordinate values every time. .

[0046] wherein the coordinate values of the plurality of historical positions are stored in a local cache of the determining device of the driving trajectory, or may be stored in a network server.

[0047] wherein the coordinate values of the plurality of historical positions are determined by steps 101 to 104 in the determining method of the driving trajectory of the present invention.

[0048] Optionally, the coordinate values of the plurality of historical positions are coordinate values of the historical positions within the preset segment. The termination node of the above preset segment is the current system, and the starting node is the engraving of the vehicle correction coordinate point which is closest to the current position coordinate in the daytime.

[0049] The plurality of historical positions may be all coordinate points in the inter-segment segment, or may be partial coordinate points.

The above partial coordinate points may be partial continuous coordinate points of all coordinate points, or may be partially discontinuous Coordinate points or other forms of coordinate points.

[0050] 102. The determining device of the driving trajectory determines the traveling direction angle and the traveling acceleration of the vehicle passing the corrected coordinate point according to the corrected coordinate value and the plurality of historical position coordinate values.

[0051] wherein the traveling acceleration is based on a distance between a speed at which the vehicle passes the coordinate 吋 adjacent to the previous position coordinate, a current position coordinate, and an accurate coordinate of the historical position, and the vehicle passes the distance The daytime to determine the given. For example, assume that the above-mentioned traveling acceleration is a, and the above speed is v. , the above distance is s and the above-mentioned time is t, according to the equation

The travel acceleration a can be determined.

[0052] The above-described traveling direction angle is determined by the current position coordinates and the accurate coordinates of the above-described historical position.

[0053] The specific implementation method is common knowledge of those skilled in the art, and details are not described herein again.

[0054] 103. The determining device of the driving trajectory corrects the measuring direction angle obtained by the gyroscope measurement in the determining device of the driving trajectory based on the traveling direction angle to obtain a target direction angle; and corrects the passing based on the traveling acceleration A gravity sensor in the device measures the obtained measured acceleration to obtain a target acceleration.

[0055] Optionally, the specific implementation manner of obtaining the target direction angle by correcting the measurement direction angle obtained by the gyroscope measurement in the determining device of the driving trajectory based on the traveling direction angle is:

[0056] performing Kalman filtering on the measurement direction angle obtained by the gyroscope according to the traveling direction angle; [0057] after the filtered error value of the direction angle is less than or equal to a preset value, the filtered The direction angle is taken as the target direction angle.

[0058] wherein the error value is a difference between the filtered measurement direction angle and the target direction angle obtained after the previous filtering on the current filter.

[0059] Optionally, the preset value may be 0.01 degrees, 0.02 degrees, 0.05 degrees, 0.1 degrees, 0.15 degrees, 0.2 degrees or 0.5 degrees or other values. Preferably, the preset range is between 0 and 0.2 degrees.

[0060] Further, the preset value may be appropriately reduced or increased according to different scenarios, and the specific value is not limited in the embodiment of the present invention. For example, in the case of complicated vehicle conditions, the above preset value can be reduced to obtain a more accurate to-be-traveled trajectory; in the case where the vehicle condition is relatively uncomplicated, the preset value can be increased, and thus the vehicle can be quickly obtained. Waiting for the trajectory. The above-mentioned Kalman filtering is common knowledge to those skilled in the art, and the specific filtering process will not be described herein.

[0062] Optionally, the specific implementation manner of correcting the measured acceleration obtained by the gravity sensor measurement in the device based on the traveling acceleration to obtain the target acceleration is:

And [0063] multiplying the measured acceleration obtained by the gravity sensor measurement by a correction coefficient to obtain the target acceleration.

[0064] wherein the correction coefficient is a ratio of a traveling acceleration determined by the determining means of the driving trajectory to the plurality of historical position coordinate values and a measured acceleration obtained by acquiring the corrected coordinate value 吋 the gravity sensor measured by the determining means of the driving trajectory .

[0065] 104. The determining device of the driving trajectory according to the target acceleration, the target direction angle, the speed of engraving the adjacent previous historical position by the current position, and the coordinate of the previous historical position adjacent to the current position The value determines the current position coordinate value of the vehicle.

[0066] wherein, the target acceleration is a measured acceleration obtained by the corrected gravity sensor measurement; the target direction angle is a measured direction angle obtained by the corrected gyroscope measurement; and the speed is the vehicle in the previous historical position. The speed of the coordinate point.

[0067] By the above-described target acceleration, the above-described speed, and the time, it is possible to determine the relative distance between the previous historical position coordinate and the current position coordinate adjacent to the current position. For example, suppose the above target acceleration is a, and the above speed is v. , the above diurnal is t and the relative distance is s, according to the equation

The relative distance s can be determined. Wherein, the daytime is the time required for the vehicle to reach the current position coordinate by the coordinate point of the previous historical position.

It can be understood that, taking the coordinate point of the previous historical position as a starting point, the coordinate value of the current position can be determined according to the relative distance and the target direction angle.

[0069] The above-described driving trajectory determining means stores the coordinate value of the current position in its local cache, and may also store it in the network server.

[0070] 105. The determining device of the driving trajectory determines a to-be-traveled trajectory of the vehicle according to the coordinate value of the current position and the coordinate value of the plurality of historical positions.

[0071] wherein, the accurate coordinate value of the current position and the accurate coordinate value of the plurality of historical positions are performed Item fitting, using the polynomial obtained by fitting to determine the trajectory of the vehicle.

[0072] wherein the number of times of the polynomial is 2 times - 5 times.

[0073] The number of times of the above polynomial refers to the number of times the highest monomial in the polynomial. For example, the polynomial is

, the number of times is 2 times, if multiple items are

, then the number is 3 times, and so on. Where _a , b, c, b are constants.

[0074] Preferably, the number of times of the above polynomial is 2 or 3 times.

[0075] The polynomial fitting process is described in detail below:

[0076] It is assumed that the exact coordinate values and the current position coordinates of the two historical positions are respectively known as (xt-2, yt-2), (xt-1)

, yt-1 ) , (xt, yt ). Where xt-2,, xt-1, xt and daytime

There is a functional relationship between them; yt-2,, yt-1, yt and 吋 have a functional relationship. The polynomial fitting process is the process of determining the functional relationship described.

[0077] wherein the subscripts t, t-1 and t-2 of the above coordinate values indicate that the three coordinates are adjacent in the engraving.

[0078] First, a functional relationship exists between xt-2,, xt-1, xt and the inter-turn t, that is, the first fitting polynomial.

[0079] Assume that the functional relationship is

.x _f = αί ² + +€

The value of the coefficients a, b, c can be obtained by xt-2,, xt-1, xt and the corresponding inter-times t-2, t-1 and t, and then the functional relationship is determined.

[0080] Secondly, it can be determined that there is a second functional relationship between yt-2, yt-1, yt and 吋, that is, the second fitting polynomial.

[0081] Finally, the coordinate value of the vehicle at t+1 is determined by the first fitting polynomial and the second fitting polynomial and the corresponding inter-turn t+1. By analogy, it is possible to determine the trajectory of the vehicle to be traveled.

[0082] It can be seen that, in the solution of the embodiment of the present invention, first, through the traveling direction angle of the vehicle, the measurement direction angle obtained by the gyroscope measurement is corrected to obtain the target direction angle; and the traveling acceleration of the vehicle is The measured acceleration obtained by the gravity sensor is corrected to obtain the target acceleration. Secondly, obtain the accurate coordinate value of the current position of the vehicle through the target direction angle and the target acceleration, and finally, through the current The exact coordinate value of the position and the accurate coordinate value of the plurality of historical positions determine the trajectory of the vehicle to be traveled. It can be seen that compared with the prior art, the solution corrects the measurement direction angle and the measurement acceleration obtained by the measurement of the gyroscope and the gravity sensor respectively, thereby obtaining an accurate vehicle to be traveled trajectory, thereby effectively preventing the occurrence of traffic accidents. .

[0083] It should be noted that, in the case where there is no GPS signal or the GPS signal is weak (such as an underground parking lot or an indoor parking lot), the trajectory of the vehicle to be traveled can also be determined. The specific process of determining the trajectory of the vehicle in the underground parking lot is as follows:

Referring to FIG. 2, FIG. 2 is a schematic flow chart of another method for determining a driving trajectory according to an embodiment of the present invention. As shown in FIG. 2, another method for determining a driving trajectory provided by an embodiment of the present invention may include:

[0085] 201. The determining device of the driving trajectory acquires a traveling direction angle of the vehicle, a traveling acceleration, and a plurality of historical position coordinate values.

[0086] The above-mentioned traveling direction angle and the traveling acceleration are determined by the corrected coordinate value obtained by the GPS module in the determining device of the driving trajectory before the vehicle enters the underground parking lot and the plurality of historical position coordinate values, and the specific determining process is shown in FIG. 1 . Step 102 of the method described.

[0087] wherein the coordinate values of the plurality of historical positions are stored in a local cache of the determining device of the driving trajectory, or may be stored in a network server.

[0088] wherein the coordinate values of the plurality of historical positions are determined by steps 101 to 104 of the method in FIG. For the specific process, refer to the method for determining the above-mentioned driving trajectory, and details are not described herein again.

[0089] Optionally, the coordinate values of the plurality of historical positions are coordinate values of the historical positions within the preset segment. The termination node of the above preset segment is the current system, and the starting node is the engraving of the above vehicle through the above corrected coordinate point.

[0090] The plurality of historical positions may be all coordinate points in the inter-segment segment, or may be partial coordinate points.

The above partial coordinate points may be partial continuous coordinate points of all coordinate points, or may be partial discontinuous coordinate points or other forms of coordinate points.

[0091] 202. The determining device of the driving trajectory acquires the target acceleration and the target direction angle.

[0092] wherein the target acceleration is a value obtained by multiplying the measured acceleration obtained by the gravity sensor measurement by the correction coefficient in the device; the target direction angle is a measurement obtained by the gyroscope measurement in the above device. The direction of the direction is obtained by Kalman filtering. For the specific process, refer to step 103 of the method in Figure 1, and details are not described herein.

[0093] 203. The determining device of the driving trajectory determines the current position coordinates of the vehicle according to the acquired historical position coordinates, the speed, the target acceleration speed, and the target direction angle.

[0094] wherein the speed is a speed at which the vehicle passes the coordinate point of the previous historical position adjacent to the current position.

[0095] By the above-described target acceleration, the above-described speed, and the time, it is possible to determine the relative distance between the previous historical position coordinate and the current position coordinate adjacent to the current position. For example, suppose the above target acceleration is a, and the above speed is v. , the above-mentioned daytime is t and the relative distance is s, according to the equation

[0096] It can be understood that, based on the coordinate point of the previous historical position, the coordinate value of the current position can be determined according to the relative distance and the target direction angle.

[0097] The above-described driving trajectory determining means stores the coordinate value of the current position in its local cache, and may also store it in the network server.

[0098] 204. The determining device of the driving trajectory determines a to-be-traveled trajectory of the vehicle according to the coordinate value of the current position and the coordinate value of the plurality of historical positions.

[0099] wherein, the accurate coordinate value of the current position and the accurate coordinate value of the plurality of historical positions are multi-formed, and the trajectory of the vehicle is determined by using the polynomial obtained by the fitting.

[0100] wherein the number of times of the polynomial is 2 times - 5 times.

[0101] The number of times of the above polynomial refers to the number of times the highest monomial in the polynomial. For example, the polynomial is

, the number of times is 2 times, if multiple items are

3 + 3⁄4 ^2: + ^ + ^

, then the number is ₃ times, and so on. Where _a , b, c, b are constants.

Preferably, the number of times of the above polynomial is 2 or 3 times. [0103] It can be understood that the polynomial fitting process and the determination of the to-be-traveled trajectory of the vehicle according to the above-described fitting polynomial can be specifically implemented by referring to the step 105 described in the above method, and the specific implementation process can refer to the related description in the above method embodiment. .

[0104] It can be seen that, in the solution of the embodiment of the present invention, first, through the traveling direction angle of the vehicle, the measurement direction angle obtained by the gyroscope measurement is corrected to obtain the target direction angle; and the traveling acceleration of the vehicle is The measured acceleration obtained by the gravity sensor is corrected to obtain the target acceleration. Secondly, the accurate coordinate value of the current position of the vehicle is obtained by the target direction angle and the target acceleration, and finally, the trajectory of the vehicle to be traveled is determined by the accurate coordinate value of the current position and the accurate coordinate value of the plurality of historical positions. It can be seen that compared with the prior art, in the absence of GPS signals or GPS signals (such as indoor parking lots and underground parking lots), the trajectory of the vehicle to be traveled can be accurately obtained, thereby effectively preventing the occurrence of traffic accidents. .

In order to facilitate the better implementation of the above described aspects of the embodiments of the present invention, an apparatus for implementing the above aspects is also provided below.

[0106] Referring to FIG. 3, a determining device 200 for driving trajectory according to an embodiment of the present invention includes:

[0107] The obtaining module 301 is configured to acquire a corrected coordinate value of the vehicle and a plurality of historical position coordinate values.

[0108] wherein the vehicle correction coordinate value is obtained by a GPS module or other positioning device (for example, a Beidou system positioning device, a Galileo system positioning device, a GLONASS system positioning device) in the determining device of the driving track. The above coordinate value is, for example, a value in units of km, and may be a latitude and longitude value. If the above coordinate value is the latitude and longitude value, the above-described driving trajectory determining means can convert the latitude and longitude value into a value in km.

[0109] wherein the determining means of the driving trajectory acquires one of the vehicle correction coordinate values every interval T. The above-mentioned time T can be ls, or 2s or other values.

[0110] It can be understood that the determining device for the driving trajectory separately corrects the measurement direction angle and the measured acceleration obtained by the measurement of the gyroscope and the gravity sensor in the device, respectively, after acquiring one of the vehicle correction coordinate values. .

[0111] wherein the coordinate values of the plurality of historical positions are stored in a local cache of the determining device of the driving trajectory, or may be stored in a network server.

[0112] wherein the coordinate values of the plurality of historical positions are in the method for determining the driving trajectory of the present invention Step 101 to step 104 determine the result.

[0113] Optionally, the coordinate values of the plurality of historical positions are coordinate values of the historical positions within the preset segment. The termination node of the above preset segment is the current system, and the starting node is the engraving of the vehicle correction coordinate point which is closest to the current position coordinate in the daytime.

[0114] The plurality of historical positions may be all coordinate points in the inter-segment segment, or may be partial coordinate points.

[0115] The first determining module 302 is configured to determine, according to the modified coordinate value and the plurality of historical position coordinate values, a traveling direction angle and a traveling acceleration of the vehicle by the corrected coordinate point.

[0116] wherein the traveling acceleration is based on a distance between a speed at which the vehicle passes the coordinate 吋 adjacent to the previous position coordinate, a current position coordinate, and an accurate coordinate of the historical position, and the vehicle passes the distance The daytime to determine the given. For example, assume that the above-mentioned traveling acceleration is a, and the above speed is v. , the above distance is s and the above-mentioned time is t, according to the equation

The travel acceleration a can be determined.

[0117] the above-mentioned traveling direction angle is determined by the relative direction of the current position coordinate and the historical position coordinate

[0118] The first correction module 303 corrects the measurement direction angle obtained by the gyroscope measurement in the determining device of the driving trajectory based on the traveling direction angle to obtain a target direction angle.

[0119] wherein, FIG. 4 is a partial schematic view of a determining device of a driving trajectory disclosed in the embodiment of the present invention. The first correction module 303 includes:

[0120] The first unit 3031 is configured to perform Kalman filtering on the measurement direction angle obtained by the gyroscope according to the traveling direction angle.

The above-mentioned Kalman filtering is common knowledge to those skilled in the art, and details are not described herein again.

[0122] The second unit 3032 is configured to use, after the filtered, the error value of the direction angle is less than or equal to the preset value 吋, and use the filtered direction angle as the target direction angle.

[0123] Optionally, the preset value may be 0.01 degrees, 0.02 degrees, 0.05 degrees, 0.1 degrees, 0.15 degrees, 0.2 degrees, or 0.5 degrees or other values. Preferably, the preset range is between 0 and 0.2 degrees. [0124] Further, the preset value may be appropriately reduced or increased according to different scenarios, and the specific value is not limited in the embodiment of the present invention. For example, in the case of complicated vehicle conditions, the above preset value can be reduced to obtain a more accurate to-be-traveled trajectory; in the case where the vehicle condition is relatively uncomplicated, the preset value can be increased, and thus the vehicle can be quickly obtained. Waiting for the trajectory.

[0125] The second correction module 304 corrects the measured acceleration obtained by the gravity sensor measurement in the device based on the traveling acceleration to obtain the target acceleration.

[0126] Optionally, the specific implementation manner of correcting the measured acceleration obtained by the gravity sensor measurement in the device based on the traveling acceleration to obtain the target acceleration is:

And [0127] multiplying the measured acceleration obtained by the gravity sensor measurement by a correction coefficient to obtain the target acceleration.

[0128] wherein the correction coefficient is a ratio of a traveling acceleration determined by acquiring the vehicle correction coordinate value and the plurality of historical position coordinate values by the determining means of the driving trajectory and a measured acceleration obtained by acquiring the corrected coordinate value 吋 the gravity sensor measurement .

[0129] The second determining module 305 is configured to: according to the target acceleration, the target direction angle, the speed of the adjacent previous historical position by engraving the current position, and the adjacent previous historical position with the current position The coordinate values determine the current position coordinate value of the vehicle.

[0130] wherein the target acceleration is a measured acceleration obtained by the corrected gravity sensor measurement; the target direction angle is a measured direction angle obtained by the corrected gyroscope measurement; and the speed is the vehicle in the previous historical position The speed of the coordinate points.

[0131] By the above-described target acceleration, the above-described speed, and the time, it is possible to determine the relative distance between the previous historical position coordinate and the current position coordinate adjacent to the current position. For example, suppose the above target acceleration is a, and the above speed is v. , the above diurnal is t and the relative distance is s, according to the equation

The relative distance s can be determined. Wherein, the daytime is the time required for the vehicle to reach the current position coordinate through the coordinate point of the previous historical position.

[0132] It can be understood that, based on the coordinate point of the previous historical position, the coordinate value of the current position can be determined according to the relative distance and the target direction angle.

[0133] The determining device of the driving trajectory stores the coordinate value of the current position in the local cache, or To store to a network server.

[0134] The third determining module 306 is configured to determine a to-be-traveled trajectory of the vehicle according to the coordinate value of the current location and the coordinate value of the plurality of historical locations.

[0135] wherein, another means for determining the driving trajectory disclosed in the embodiment of the present invention shown in FIG. 4 is partially shown. The third determining module 206 includes:

[0136] The third unit 3061 is configured to perform a polynomial fitting on the coordinate values of the current location and the coordinate values of the plurality of historical locations to obtain a fitting polynomial.

[0137] wherein the number of times of the above fitting polynomial is 2-5 times.

[0138] The number of times of the above polynomial refers to the number of times the highest monomial in the polynomial. For example, the polynomial is

, the number of times is 2 times, if multiple items are

+ fe ³ + <:^ - ^

, then the number is ₃ times, and so on. Where _a , b, c, b are constants.

Preferably, the number of times of the above polynomial is 2 or 3 times.

[0140] The fourth unit 3062 is configured to determine a to-be-traveled trajectory of the vehicle according to the fitting polynomial.

[0141] wherein the above-described fitting polynomial is a function relation between coordinates of a current position and coordinates of a plurality of historical positions and a turn.

It can be understood that the polynomial fitting process and the determination of the to-be-traveled trajectory of the vehicle according to the above-described fitting polynomial can be specifically implemented by referring to the above-mentioned step 105 in the above method, and the specific implementation process can refer to the related description in the above method embodiment.

[0143] It should be noted that each of the above modules (acquisition module 301, first determining module 302, first correcting module 303, second correcting module 304, second determining module 305, third determining module 306) is used to execute the above The relevant steps of the method of determining the driving trajectory.

[0144] The "module" in this embodiment may be an application-specific integrated circuit (ASIC), a processor and memory that executes one or more software or firmware programs, integrated logic circuits, and/or the like. A device that provides the above functions. Furthermore, each of the above modules can be implemented by a processor in the apparatus described in FIG. [0145] As shown in FIG. 6, the determining device of the driving trajectory can be realized by the structure in FIG. 6. The apparatus 600 includes at least one processor 601, at least one memory 602, and at least one communication interface 603. In addition, the device may also include general components such as an antenna, which will not be described in detail herein.

[0146] The processor 601 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the above program. .

[0147] Communication interface 603, used to communicate with other devices or communication networks, such as Ethernet, radio access network (RA)

N), Wireless Local Area Networks (WLAN), etc.

[0148] The memory 602 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions. Random access memory (random access memory)

Memory, RAM) or other type of dynamic storage device that can store information and instructions. It can also be an electrically erasable programmable read-only memory (EEPROM) or a compact disc (Compact Disc Read-Only). Memory, CD-ROM) or other disc storage, disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), disk storage media or other magnetic storage devices, or can be used to carry or store instructions The desired program code in the form of a data structure and any other medium that can be accessed by a computer, but is not limited thereto. The memory can exist independently and be connected to the processor via a bus. The memory can also be integrated with the processor.

[0149] The memory 602 is configured to store application code that executes the above solution, and is controlled by the processor 601 to execute. The processor 601 is configured to execute application code stored in the memory 602.

[0150] The driving trajectory determining device shown in FIG. 6 , the code stored in the memory 602 can execute the driving trajectory determining method provided above, for example, acquiring a corrected coordinate value of the vehicle and a plurality of historical position coordinate values; and according to the corrected coordinate value and the plurality of The historical position coordinate value determines a traveling direction angle and a traveling acceleration of the vehicle by correcting the coordinate point; and based on the traveling direction angle, corrects a measurement direction angle obtained by the gyroscope measurement in the determining device of the driving track to obtain a target direction angle; Correcting the measured acceleration obtained by the gravity sensor measurement in the device to obtain the target acceleration; according to the target acceleration, the target direction angle, the speed of the adjacent previous historical position by engraving the current position, and the neighboring position with the current position The coordinate value of a historical position to determine the current position coordinate value of the vehicle; the coordinate value and the location according to the current position The coordinate values of the plurality of historical positions determine the trajectory of the vehicle to be traveled.

The embodiment of the present invention further provides a computer storage medium, wherein the computer storage medium may store a program, and the program execution includes some or all of the determination methods of any one of the driving trajectories described in the foregoing method embodiments. step.

[0152] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that the present invention is not subject to the described action sequence. The limitation is that, in accordance with the present invention, certain steps may be performed in other orders or in the same manner. In the following, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0153] In the foregoing embodiments, the descriptions of the various embodiments are different, and the details that are not detailed in an embodiment may be referred to the related descriptions of other embodiments.

[0154] In the several embodiments provided by the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division, and the actual implementation may have another division manner, for example, multiple units or components may be combined or may be Integration into another system, or some features can be ignored, or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be electrical or otherwise.

[0155] The unit described as a separate component may or may not be physically distributed, and the component displayed as a unit may or may not be a physical unit, that is, may be located in one place, or may be distributed to multiple On the network unit. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

[0156] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0157] The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable memory. Based on such understanding, the technology of the present invention The portion of the solution or the contribution to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a memory, including a number of instructions for causing a computer Device (can be a personal computer, server or network device, etc.

All or part of the steps of the method described in various embodiments of the invention are performed. The aforementioned memory includes: u disk, read only memory (ROM, Read-Only

Memory, Random Access Memory (RAM), removable hard disk, disk or optical disk, and other media that can store program code.

[0158] A person of ordinary skill in the art may understand that all or part of the steps of the foregoing embodiments may be completed by a program to instruct related hardware, the program may be stored in a computer readable memory, and the memory may include : Flash drive, read-only memory (English: Read-Only Memory, referred to as: ROM), random access memory (English: Random Access Memory, referred to as: RAM), disk or CD.

The embodiments of the present invention have been described in detail above, and the principles and embodiments of the present invention are described herein by using specific examples. The description of the above embodiments is only for helping to understand the method of the present invention and its core ideas; In the meantime, the present invention is not limited to the scope of the present invention.

technical problem

Problem solution

Advantageous effects of the invention

Claims

Claim

[Claim 1] A method for determining a driving trajectory, comprising:

Acquiring a corrected coordinate value of the vehicle and a plurality of historical position coordinate values; determining, according to the corrected coordinate value and the plurality of historical position coordinate values, a traveling direction angle and a traveling acceleration of the vehicle through the corrected coordinate point;

Correcting a measurement direction angle obtained by gyroscope measurement in the determining device of the driving trajectory based on the traveling direction angle to obtain a target direction angle; based on the traveling acceleration, the correction is obtained by gravity sensor measurement in the device Measuring the acceleration to obtain the target acceleration;

Determining a current position coordinate value of the vehicle according to the target acceleration, the target direction angle, the speed of the adjacent previous historical position by engraving the current position, and the coordinate value of the previous previous historical position engraved with the current position; The coordinate value of the current position and the coordinate value of the plurality of historical positions determine a to-be-traveled trajectory of the vehicle.

[Claim 2] The method according to claim 1, wherein the angle of the traveling direction is based

Correcting the measurement direction angle obtained by the gyroscope measurement in the determining device of the driving track to obtain the target direction angle, including:

Performing Kalman filtering on the measurement direction angle obtained by the gyroscope according to the traveling direction angle;

After the filtered error value of the direction angle is less than or equal to the preset value 吋, the filtered measured direction angle is taken as the target direction angle.

[Claim 3] The method according to claim 1, wherein the traveling acceleration is based on

Correcting the measured acceleration obtained by the gravity sensor measurement in the device to obtain the target acceleration, including:

The measured acceleration obtained by the gravity sensor measurement is multiplied by a correction coefficient to obtain the target acceleration.

[Claim 4] The method according to any one of claims 1-3, wherein the determining the waiting for the vehicle according to the accurate coordinate value of the current position and the accurate coordinate value of the plurality of historical positions Driving track, including:

Performing a polynomial fitting on the accurate coordinate value of the current position and the accurate coordinate value of the plurality of historical positions, and using the polynomial obtained by the fitting to determine the to-be-traveled trajectory of the vehicle.

[Clave 5] The method according to claim 4, wherein the number of fitting polynomials is 2-5 times.

[Claim 6] A device for determining a driving trajectory, comprising:

An acquisition module, configured to acquire a corrected coordinate value of the vehicle and a plurality of historical position coordinate values; a first determining module, configured to determine, according to the corrected coordinate value and the plurality of historical position coordinate values, a traveling direction angle of the vehicle through the corrected coordinate point and a first acceleration module that corrects a measurement direction angle obtained by gyroscope measurement in the determining device of the driving track to obtain a target direction angle based on the traveling direction angle; a second correction module, based on the traveling Acceleration, correcting the measured acceleration obtained by the gravity sensor measurement in the device to obtain the target acceleration; and second determining module, configured to engrave the previous previous history according to the target acceleration, the target direction angle, and the current position a speed of the position and a coordinate value of the previous historical position adjacent to the current position to determine a current position coordinate value of the vehicle; a third determining module, configured to use the coordinate value of the current position and the plurality of historical positions The coordinate values determine the trajectory of the vehicle to be traveled.

[Claim 7] The device according to claim 6, wherein the first correction module comprises a first unit, and the measurement direction angle obtained by the gyroscope is subjected to Kalman according to the traveling direction angle Filtering

And a second unit, configured to use the filtered direction angle as the target direction angle, if the error value of the filtered direction angle is less than or equal to the preset value 。.

[Claim 8] The apparatus according to claim 6, wherein the second correction module: multiplies the measured acceleration obtained by the gravity sensor measurement by a correction coefficient to obtain the target acceleration.

[Claim 9] The apparatus according to any one of claims 6-8, wherein the third determination order Yuan, including:

a third unit, configured to perform a polynomial fitting on the coordinate value of the current position and the coordinate value of the plurality of historical positions to obtain a fitting polynomial;

And a fourth unit, configured to determine a to-be-traveled trajectory of the vehicle according to the fitting polynomial.

[Claim 10] The apparatus according to claim 9, wherein the number of times of the polynomial is 2-5 times

[Claim 11] A device for determining a vehicle trajectory, comprising:

a memory storing executable program code;

a processor coupled to the memory;

The processor calls the executable program code stored in the memory, and performs the following steps:

[Claim 12] The device according to claim 11, wherein the processor is specifically configured to: correct a measurement obtained by gyroscope measurement in the determining device of the driving trajectory based on the traveling direction angle Direction angle to get the target direction angle, including:

Performing a Kalman filter on a measurement direction angle obtained by the gyroscope according to the traveling direction angle; After the filtered error value of the direction angle is less than or equal to the preset value 吋, the filtered measurement direction angle is taken as the target direction angle.

[Claim 13] The device according to claim 11, wherein the processor is specifically configured to: correct a measured acceleration obtained by gravity sensor measurement in the device based on the traveling acceleration to obtain a target Acceleration, including:

[Claim 14] The method according to any one of claims 11 to 13, wherein the processor is specifically configured to:

Determining a to-be-traveled trajectory of the vehicle according to the accurate coordinate value of the current position and the accurate coordinate value of the plurality of historical positions, including:

[Claim 15] The method according to claim 14, wherein the number of fitting polynomials is 2 to 5 times.