WO2018053921A1 - Procédé de détermination de trajectoire de déplacement et dispositif associé - Google Patents

Procédé de détermination de trajectoire de déplacement et dispositif associé Download PDF

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Publication number
WO2018053921A1
WO2018053921A1 PCT/CN2016/105792 CN2016105792W WO2018053921A1 WO 2018053921 A1 WO2018053921 A1 WO 2018053921A1 CN 2016105792 W CN2016105792 W CN 2016105792W WO 2018053921 A1 WO2018053921 A1 WO 2018053921A1
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WO
WIPO (PCT)
Prior art keywords
direction angle
acceleration
vehicle
coordinate value
determining
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Application number
PCT/CN2016/105792
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English (en)
Chinese (zh)
Inventor
刘均
李旭鹏
Original Assignee
深圳市元征科技股份有限公司
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Publication of WO2018053921A1 publication Critical patent/WO2018053921A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system

Definitions

  • the present invention relates to the field of traffic safety warning, and particularly relates to a method and device for determining a driving trajectory.
  • the key technology in traffic safety warning is the determination of the driving trajectory.
  • 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.
  • GPS Global Positioning System
  • 1HZ the low frequency of the position coordinate information acquired by the GPS
  • 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.
  • 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:
  • a second aspect of the embodiments of the present invention provides a device for determining a trajectory of a vehicle, including:
  • an obtaining 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 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;
  • 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;
  • 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
  • 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;
  • 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.
  • a third aspect of the embodiments of the present invention provides a device for determining a trajectory of a vehicle, including:
  • a processor coupled to the memory
  • 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.
  • 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. .
  • FIG. 1 is a schematic flow chart of a method for determining a driving trajectory according to an embodiment of the present invention
  • FIG. 2 is a schematic flow chart of another method for determining a driving trajectory according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a device for determining a driving trajectory according to an embodiment of the present invention.
  • FIG. 4 is a partial schematic view showing a device for determining a driving trajectory according to an embodiment of the present invention
  • FIG. 5 is a partial intent of a device for determining a driving trajectory according to another embodiment of the present invention.
  • FIG. 6 is a schematic diagram of another apparatus for determining a driving trajectory according to an embodiment of the present invention.
  • 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.
  • FIG. 1 is a schematic flow chart of a method for determining a driving trajectory according to an embodiment of the present invention.
  • a method for determining a driving trajectory 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.
  • 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.
  • 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.
  • 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. .
  • 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.
  • 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.
  • 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.
  • 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.
  • the traveling acceleration is based on a distance between a speed at which the vehicle passes the coordinate ⁇ 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.
  • the above-mentioned traveling acceleration is a
  • the above speed is v.
  • the above distance is s
  • the above-mentioned time is t
  • the travel acceleration a can be determined.
  • the above-described traveling direction angle is determined by the current position coordinates and the accurate coordinates of the above-described historical position.
  • 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.
  • 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:
  • 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.
  • 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.
  • the preset range is between 0 and 0.2 degrees.
  • 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.
  • 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.
  • 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:
  • 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 ⁇ the gravity sensor measured by the determining means of the driving trajectory .
  • 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.
  • 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
  • the speed is the vehicle in the previous historical position. The speed of the coordinate point.
  • the relative distance s can be determined.
  • the daytime is the time required for the vehicle to reach the current position coordinate by 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.
  • 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.
  • 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.
  • 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.
  • the number of times of the above polynomial refers to the number of times the highest monomial in the polynomial.
  • the polynomial is
  • the number of times is 2 times, if multiple items are
  • the number of times of the above polynomial is 2 or 3 times.
  • yt-2, yt-1, yt and ⁇ have a functional relationship.
  • the polynomial fitting process is the process of determining the functional relationship described.
  • 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.
  • 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.
  • 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. .
  • 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:
  • FIG. 2 is a schematic flow chart of another method for determining a driving trajectory according to an embodiment of the present invention.
  • another method for determining a driving trajectory provided by an embodiment of the present invention may include:
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the determining device of the driving trajectory acquires the target acceleration and the target direction angle.
  • 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.
  • 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.
  • the speed is a speed at which the vehicle passes the coordinate point of the previous historical position adjacent to the current position.
  • the relative distance s can be determined.
  • the daytime is the time required for the vehicle to reach the current position coordinate by 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.
  • 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.
  • 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.
  • 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.
  • the number of times of the above polynomial refers to the number of times the highest monomial in the polynomial.
  • the polynomial is
  • the number of times is 2 times, if multiple items are
  • the number of times of the above polynomial is 2 or 3 times.
  • 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. .
  • 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.
  • 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. .
  • a determining device 200 for driving trajectory includes:
  • the obtaining module 301 is configured to acquire a corrected coordinate value of the vehicle and a plurality of historical position coordinate values.
  • 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.
  • 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.
  • 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.
  • 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.
  • Step 101 to step 104 determine the result.
  • 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.
  • 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.
  • 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.
  • the traveling acceleration is based on a distance between a speed at which the vehicle passes the coordinate ⁇ 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.
  • the above-mentioned traveling acceleration is a
  • the above speed is v.
  • the above distance is s
  • the above-mentioned time is t
  • the travel acceleration a can be determined.
  • the above-mentioned traveling direction angle is determined by the relative direction of the current position coordinate and the historical position coordinate
  • 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.
  • 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:
  • 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 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 ⁇ , and use the filtered direction angle as the target direction angle.
  • 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.
  • 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 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.
  • 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:
  • 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 ⁇ the gravity sensor measurement .
  • 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.
  • 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
  • the speed is the vehicle in the previous historical position The speed of the coordinate points.
  • the relative distance s can be determined.
  • the daytime is the time required for the vehicle to reach the current position coordinate through 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.
  • 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.
  • 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.
  • the third determining module 206 includes:
  • 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.
  • the number of times of the above polynomial refers to the number of times the highest monomial in the polynomial.
  • the polynomial is
  • the number of times is 2 times, if multiple items are
  • the number of times of the above polynomial is 2 or 3 times.
  • the fourth unit 3062 is configured to determine a to-be-traveled trajectory of the vehicle according to the fitting polynomial.
  • fitting polynomial is a function relation between coordinates of a current position and coordinates of a plurality of historical positions and a turn.
  • 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.
  • 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.
  • each of the above modules can be implemented by a processor in the apparatus described in FIG. [0145]
  • 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.
  • the device may also include general components such as an antenna, which will not be described in detail herein.
  • 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. .
  • CPU central processing unit
  • ASIC application-specific integrated circuit
  • Communication interface 603 used to communicate with other devices or communication networks, such as Ethernet, radio access network (RA)
  • WLAN Wireless Local Area Networks
  • 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
  • RAM random access memory
  • EEPROM electrically erasable programmable read-only memory
  • CD-ROM compact 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.
  • 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.
  • 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.
  • the disclosed apparatus may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the aforementioned memory includes: u disk, read only memory (ROM, Read-Only
  • RAM Random Access Memory
  • removable hard disk disk or optical disk, and other media that can store program code.
  • 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.
  • ROM Read-Only Memory
  • RAM Random Access Memory

Abstract

La présente invention concerne un procédé de détermination de trajectoire de déplacement, consistant : à obtenir des valeurs de coordonnées de correction et de multiples valeurs de coordonnées d'emplacement historiques d'un véhicule (101) ; à déterminer un angle de direction de déplacement et une accélération de déplacement du véhicule passant par un point de coordonnées de correction en fonction des valeurs de coordonnées de correction et des multiples valeurs de coordonnées d'emplacement historiques (102) ; à corriger, sur la base de l'angle de direction de déplacement et de l'accélération de déplacement, un angle de direction mesuré obtenu par un gyroscope et une accélération mesurée obtenue par un capteur de gravité dans un dispositif de détermination de trajectoire de déplacement de sorte à obtenir un angle de direction cible et une accélération cible (103) ; à déterminer des valeurs de coordonnées d'un emplacement actuel du véhicule en fonction de l'accélération cible, de l'angle de direction cible, d'une vitesse de passage par un précédent emplacement historique qui est temporellement adjacent à l'emplacement actuel, et de coordonnées du précédent emplacement historique qui est temporellement adjacent à l'emplacement actuel (104) ; et à déterminer, en fonction des coordonnées de l'emplacement actuel et des coordonnées de multiples emplacements historiques, une trajectoire le long de laquelle le véhicule va se déplacer (105). La trajectoire le long de laquelle le véhicule va se déplacer, est déterminée à l'aide du procédé de telle sorte qu'un accident de trafic puisse être empêché de manière efficace.
PCT/CN2016/105792 2016-09-22 2016-11-14 Procédé de détermination de trajectoire de déplacement et dispositif associé WO2018053921A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610841603.3A CN106525033A (zh) 2016-09-22 2016-09-22 一种行车轨迹的确定方法及其装置
CN201610841603.3 2016-09-22

Publications (1)

Publication Number Publication Date
WO2018053921A1 true WO2018053921A1 (fr) 2018-03-29

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CN111581306B (zh) * 2019-02-15 2023-04-14 阿里巴巴集团控股有限公司 一种行车轨迹模拟方法及装置
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CN113127800B (zh) * 2021-03-17 2023-09-12 北京易控智驾科技有限公司 用于矿山无人驾驶的待装车辆装载位生成方法和装置
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