CN117391971A

CN117391971A - Navigation track smoothing method and device, electronic equipment and storage medium

Info

Publication number: CN117391971A
Application number: CN202311380852.3A
Authority: CN
Inventors: 王德祥
Original assignee: Huizhou Desay SV Automotive Co Ltd
Current assignee: Huizhou Desay SV Automotive Co Ltd
Priority date: 2023-10-23
Filing date: 2023-10-23
Publication date: 2024-01-12

Abstract

The invention discloses a navigation track smoothing method, a navigation track smoothing device, electronic equipment and a storage medium, and relates to the technical field of automatic driving. The navigation track smoothing method comprises the following steps: determining that turning driving paths exist in the map data to be smoothed according to a preset map checking strategy, determining track smoothing center points based on the position relation between the turning driving paths and the map data to be smoothed, determining path repeated filtering areas according to the track smoothing center points, processing the map data to be smoothed according to the path repeated filtering areas and the position relation, eliminating repeated invalid tracks in the map data to be smoothed according to the path repeated filtering areas, solving the problem of map building failure caused by vehicle positioning drift due to track overlapping, realizing elimination of repeated tracks, processing the map data to be smoothed according to the path repeated filtering areas and the position relation, improving the smoothness of a navigation map, shortening the lane distance required by automatic parking, establishing reasonable automatic parking tracks of vehicles, and improving user driving experience.

Description

Navigation track smoothing method and device, electronic equipment and storage medium

Technical Field

The present invention relates to the field of autopilot technology, and in particular, to a navigation track smoothing method, apparatus, electronic device, and storage medium.

Background

With the continuous development of automatic driving technology, the automatic driving vehicle is gradually applied to life, and the memory parking is realized by the functions of route memory, auxiliary driving and the like on the basis of the automatic parking function.

Fig. 1 is a schematic diagram of a memory parking technology provided in the prior art for realizing a single path function, in which no reversing operation exists in the path, only a single forward and turning operation exists, as shown in fig. 1, when the vehicle is memorized, a user needs to manually drive the vehicle to travel a parking route, and the parking route (i.e. the memory route) is stored, so that the driver can be assisted to automatically park according to the memory route, and the current memory parking technology mainly stays in the aspect of realizing the single path function.

However, when the memory parking technology is in the process of establishing a memory route, if the driving path encounters a situation that the turning cannot pass, the situation of positioning drift can occur due to overlapping of tracks, so that cruising is disordered, the establishment is failed, and the automatic driving can drive according to the overlapping tracks, so that the whole system is single, and the user experience is reduced.

Disclosure of Invention

The invention provides a navigation track smoothing method, a device, electronic equipment and a storage medium, which are used for solving the problems of vehicle positioning drift and map construction failure caused by track overlapping, realizing repeated track elimination, improving the smoothness of a navigation map, shortening the lane distance required by automatic parking, establishing a reasonable automatic parking track of a vehicle and improving the driving experience of a user.

In a first aspect, an embodiment of the present invention provides a navigation track smoothing method, including:

determining that turning driving paths exist in the data to be smoothly built according to a preset graph verification strategy;

determining a track smoothing center point based on the position relation between the turning driving path and the map data to be smoothed;

and determining a path repeated filtering area according to the track smoothing center point, and processing the to-be-smoothed map building data according to the path repeated filtering area and the position relation.

In a second aspect, an embodiment of the present invention further provides a navigation track smoothing device, including:

the path checking module is used for determining that turning driving paths exist in the data to be smoothly built according to a preset graph checking strategy;

the smooth center module is used for determining a track smooth center point based on the position relation between the turning driving path and the map data to be smoothed;

And the smoothing processing module is used for determining a path repeated filtering area according to the track smoothing center point and processing the to-be-smoothed map building data according to the path repeated filtering area and the position relation.

In a third aspect, an embodiment of the present invention further provides an electronic device, including:

at least one processor; and

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

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the navigation track smoothing method of any one of the embodiments of the present invention.

In a fourth aspect, an embodiment of the present invention further provides a computer readable storage medium, where the computer readable storage medium stores computer instructions for causing a processor to implement the navigation track smoothing method according to any one of the embodiments of the present invention when executed.

According to the technical scheme, the turning driving path existing in the map data to be smoothed is determined according to the preset map verification strategy, the track smoothing center point is determined based on the position relation between the turning driving path and the map data to be smoothed, the path repeated filtering area is determined according to the track smoothing center point, the map data to be smoothed is processed according to the path repeated filtering area and the position relation, the repeated invalid track in the map data to be smoothed is removed according to the path repeated filtering area, the map building failure problem caused by vehicle positioning drift due to track overlapping is solved, the repeated track is removed, the map data to be smoothed is processed according to the path repeated filtering area and the position relation, the smoothness of a navigation map is improved, the lane distance required by automatic parking is shortened, a reasonable automatic vehicle parking track is established, and the driving experience of a user is improved.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a memory parking technique for implementing a single path function according to the prior art;

FIG. 2 is a flowchart of a method for smoothing navigation tracks according to an embodiment of the present invention;

FIG. 3 is a flowchart of another method for smoothing navigation tracks according to an embodiment of the present invention;

fig. 4 is a schematic view of a scenario in which a turning travel path is not located near a target parking spot according to an embodiment of the present invention;

fig. 5 is a schematic view of a scenario in which a turning travel path is located near a target parking spot according to an embodiment of the present invention;

FIG. 6 is a flowchart of another method for smoothing navigation tracks according to an embodiment of the present invention;

fig. 7 is a schematic view of a scenario in which another turning travel path provided by an embodiment of the present invention is located near a target parking spot;

fig. 8 is a schematic structural diagram of a navigation track smoothing device according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

11. A vehicle; 12. a travel track; 41. a vehicle; 42. a target parking spot; 43. a travel track; 44. the last forward gear position point; 45. a first reverse position point; 46. the track smoothes the center point; 47. a path repeat filtering region; 48. compensating an arc track; 49. a first location point; 50. a second location point; 51. a vehicle; 52. a target parking spot; 53. a travel track; 54. the track smoothes the center point; 55. a path repeat filtering region; 56. a parking entry point; 57. a parking exit point; 71. a vehicle; 72. a travel track; 73. a target parking spot; 74. the track smoothes the center point; 75. a path repeat filtering region; 76. a parking entry point; 77. and (5) stopping the vehicle out of the way.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In an embodiment, fig. 2 is a flowchart of a navigation track smoothing method according to an embodiment of the present invention, where the method may be performed by a navigation track smoothing device, and the navigation track smoothing device may be implemented in hardware and/or software, and the navigation track smoothing device may be configured in an electronic device.

As shown in fig. 2, a navigation track smoothing method provided in this embodiment may include:

s110, determining that turning driving paths exist in the data to be smoothly built according to a preset map verification strategy.

In this embodiment, the preset map verification policy may include a method for matching a path in a navigation map, which is set in advance according to an actual situation, and may be used to determine whether a turning driving path exists in a memory parking map established by a driving path of a user, where the preset map verification policy may include a path traversal algorithm and a path matching algorithm; the map data to be smoothed may include a navigation track established by a user driving a parking route, and there may be a repeated invalid path affecting the smoothness of the navigation map in the map data to be smoothed, which may be caused by a turning driving path existing in the map data to be smoothed, and exemplary, the map data to be smoothed is path information generated by the user driving the vehicle driving the parking route in advance, and the repeated invalid path affecting the smoothness of the map caused by the turning driving path exists in the path information.

Specifically, the method for matching the path in the navigation map can be set in advance according to the actual situation to judge whether a turning driving path exists in the navigation track established by the user driving parking route, and the method can comprise a path traversing algorithm and a path matching algorithm.

S120, determining a track smoothing center point based on the position relation between the turning driving path and the map data to be smoothed.

Specifically, the center point for performing map track smoothing processing may be determined according to the position relationship between the turning travel path determined in the map data to be smoothed and the map data to be smoothed, the position relationship between the turning travel path and the map data to be smoothed may include the position relationship between the turning travel path and the target parking point in the map data to be smoothed, the map track smoothing processing may include median filtering, gaussian filtering, and the like, and repeated invalid paths may be removed.

S130, determining a path repeated filtering area according to the track smoothing center point, and processing the to-be-smoothed mapping data according to the path repeated filtering area and the position relation.

In this embodiment, the path repeated filtering area may include an area in which repeated invalid paths need to be removed from the map data to be smoothed, the path repeated filtering area may be determined based on a track smoothing center point, and exemplary, the path repeated filtering area may include an area in which repeated invalid paths occur due to turning driving paths in the map data to be smoothed.

Specifically, an area in which repeated invalid paths need to be removed from the map building data to be smoothed can be determined according to the determined track smoothing center point, the area can include repeated invalid paths caused by turning driving paths, the determination mode of the area can include determination based on track smoothing center points and vehicle attribute information, the map building data to be smoothed can be processed according to the path repeated filtering area and the position relation between the path repeated filtering area and the map building data to be smoothed, smoothness of a navigation map is improved, and the processing mode can include removing the repeated invalid paths in the path repeated filtering area, perfecting paths in the navigation map after removing, and the like.

According to the technical scheme provided by the embodiment of the invention, the turning driving path in the map data to be smoothed is determined according to the preset map verification strategy, the track smoothing center point is determined based on the position relation between the turning driving path and the map data to be smoothed, the path repeated filtering area is determined according to the track smoothing center point, the map data to be smoothed is processed according to the path repeated filtering area and the position relation, the repeated invalid track in the map data to be smoothed is removed according to the path repeated filtering area, the map building failure problem caused by vehicle positioning drift due to track overlapping is solved, the repeated track is removed, the map data to be smoothed is processed according to the path repeated filtering area and the position relation, the smoothness of a navigation map is improved, the lane distance required by automatic parking is shortened, the reasonable automatic vehicle parking track is established, and the driving experience of a user is improved.

On the basis of the above embodiment, the navigation track smoothing method further includes:

and storing the processed data to be smoothed as smoothed construction data.

In this embodiment, the smooth map building data may include to-be-smoothed map building data with improved smoothness after the processing such as eliminating the repeated invalid paths and compensating the arc track.

Specifically, the to-be-smoothed map data subjected to the processes of eliminating the repeated invalid paths, compensating the arc tracks and the like can be used as smoothed map data for storage, so that the smoothness of the cruising map is improved, and a more reasonable path is planned.

In an embodiment, fig. 3 is a flowchart of another navigation track smoothing method provided in the embodiment of the present invention, where the determining process of the turning driving path and the path repeated filtering area and the smoothing process of the map data to be smoothed are further optimized and expanded based on the above embodiments.

As shown in fig. 3, another navigation track smoothing method provided in this embodiment may include:

s201, traversing and extracting the cruising track of the map data to be smoothly built according to the path extraction sequence of the preset map verification strategy.

In this embodiment, the cruising track may include a vehicle driving route in the map data to be smoothly constructed, which requires the subsequent navigation assistance.

Specifically, the path information of the parking route pre-driven by the user can be traversed according to the path extraction sequence of the map verification strategy set in advance according to the actual situation, the cruising track of the parking of the user is extracted, and the path extraction sequence traversing mode can comprise front sequence traversing, middle sequence traversing, rear sequence traversing and the like.

And S202, when the cruise track is matched with a reverse gear characteristic point corresponding to a preset map verification strategy, taking the matched cruise track as a turning driving path.

In this embodiment, the reverse characteristic point may include a flag characteristic indicating that the user performs a reverse operation, and the vehicle gear is an exemplary reverse gear.

Specifically, the reverse gear characteristic points corresponding to the preset map verification strategy can be matched in the determined cruising track, when the matching is successful, the cruising track can be used as a turning driving path, and the matching mode can comprise a characteristic matching algorithm.

S203, judging whether the turning driving path is located in a threshold range of a target parking point of the map data to be smoothly built.

In this embodiment, the target parking spot may include a parking space in which the user needs to park in the map data to be smoothly built, and the threshold range of the target parking spot may include an area size near the parking space in which the user needs to park, which is set in advance according to the actual situation, and may indicate that the area is closer to the target parking spot.

Specifically, it may be determined whether the determined turning travel path is located near a parking space where the user of the map data to be smoothly constructed needs to park, and is within a threshold range of the target parking spot.

S204, if not, determining the position relationship as a first position relationship, and if so, determining the position relationship as a second position relationship.

In this embodiment, the first positional relationship may include a positional relationship in which the turning travel path is not located near the target parking spot of the map data to be smoothly constructed; the second positional relationship may include a positional relationship in which the turning travel path is located near the target parking spot to be smoothed in the map data.

Specifically, if the turning travel path is not located within the threshold range of the target parking point of the map data to be smoothed and is not located near the target parking point, the positional relationship between the turning travel path and the target parking point of the map data to be smoothed may be determined as the first positional relationship, and if the turning travel path is located within the threshold range of the target parking point of the map data to be smoothed and is located near the target parking point, the positional relationship between the turning travel path and the target parking point of the map data to be smoothed may be determined as the second positional relationship.

S205, when the position relation is the first position relation, taking the midpoint position of the last forward gear position point and the first reverse gear position point of the turning driving path as a track smoothing center point.

In this embodiment, the last forward gear position point may include a position of a forward gear engaged in the turning path when the user is ready to continue to forward after reversing, and the first reverse gear position point may include a position of a reverse gear engaged in the turning path when the user is required to reverse and then forward.

Specifically, fig. 4 is a schematic view of a scenario in which a turning travel path is not located near a target parking spot, the distance between the turning travel path and the target parking spot is far, and a reverse gear and a forward gear of a vehicle are switched at the turning travel path, as shown in fig. 4, when it is determined that a positional relationship between the turning travel path and the target parking spot of data to be smoothly mapped is a first positional relationship, a last forward gear position point and a midpoint position of the first reverse gear position point of the turning travel path may be taken as a track smooth center point, and an obtaining manner of the midpoint position may take the last forward gear position point and the first reverse gear position point as a straight line, so as to obtain a midpoint position of the straight line.

S206, taking the center point of the target parking point as the track smoothing center point when the position relation is the second position relation.

Specifically, fig. 5 is a schematic view of a scenario where a turning travel path is located near a target parking spot, where the distance between the turning travel path and the target parking spot is relatively short, and when it is determined that the positional relationship between the turning travel path and the target parking spot of the map data to be smoothed is a second positional relationship, as shown in fig. 5, the center point of the target parking spot may be taken as a smooth center point of the track, and the center point of the target parking spot may take a midpoint of a parking space where a user needs to park.

S207, determining a preset length corresponding to the to-be-smoothed mapping data.

In this embodiment, the preset length may include a value required to establish a path repeated filtering area set in advance according to the length of the vehicle.

Specifically, a suitable value can be set in advance according to the length of the vehicle, and is used as a preset length to provide a basis for the subsequent establishment of the path repeated filtering area.

And S208, determining a circular area as a path repeated filtering area by taking the preset length as a radius and taking the track smooth center point as a circle center in the to-be-smoothed mapping data.

Specifically, as shown in fig. 4, a circular area may be established in the to-be-smoothed map data with a preset length as a radius and a track smoothing center point determined according to a positional relationship between the turning travel path and a target parking point of the to-be-smoothed map data as a center of a circle, and the circular area may be determined as a path repeated filtering area, where the area includes the turning travel path.

S209, eliminating repeated cruising paths of the to-be-smoothed map building data according to the path repeated filtering area when the position relation is the first position relation, and generating a compensation arc track between the last forward gear position point and the first reverse gear position point in the to-be-smoothed map building data according to the path repeated filtering area.

In this embodiment, compensating the arc track may include perfecting a smooth curve path of the navigation path in the to-be-smoothed map data after eliminating the repeated invalid paths.

Specifically, as shown in fig. 4, when the positional relationship between the turning driving path and the target parking point of the to-be-smoothed map building data is the first positional relationship, the repeated cruising path of the to-be-smoothed map building data may be removed according to the path repeated filtering area, the path in the reversing and advancing process of the vehicle in the path repeated filtering area may be removed, and the compensation arc track between the last forward gear position point and the first reverse gear position point may be generated in the to-be-smoothed map building data according to the path repeated filtering area, so as to perfect the navigation path in the to-be-smoothed map building data, and the compensation arc track generation mode may include synchronous positioning and map building technology (Simultaneous localization and mapping, SLAM).

And S210, eliminating repeated cruising paths of the map data to be smoothed according to the path repeated filtering area when the position relation is the second position relation, and determining parking entry points and parking exit points of the map data to be smoothed according to the path repeated filtering area.

In this embodiment, as shown in fig. 5, the parking entry point may include an intersection of the travel path and the path repetition filtering area when the vehicle enters the path repetition filtering area, and the parking exit point may include an intersection of the travel path and the path repetition filtering area when the vehicle exits the path repetition filtering area after the parking operation is completed.

Specifically, when the positional relationship between the turning travel path and the target parking point of the map data to be smoothed is the second positional relationship, the repeated cruising path of the map data to be smoothed may be removed according to the path repeated filtering area, and the intersection point of the travel path and the path repeated filtering area when the vehicle enters the path repeated filtering area and the intersection point of the travel path and the path repeated filtering area when the vehicle exits the path repeated filtering area after the parking operation are determined in the map data to be smoothed, that is, the parking entrance point and the parking exit point.

According to the technical scheme provided by the embodiment of the invention, the cruise track of the map data to be smoothed is extracted by traversing according to the path extraction sequence of the preset map verification strategy, the matched cruise track is used as a turning driving path, whether the turning driving path is located in the threshold range of the target parking point of the map data to be smoothed is judged, the position relation between the turning driving path and the target parking point of the map data to be smoothed is determined, the track smoothing center point in the map data to be smoothed is determined according to different position relations, the preset length corresponding to the map data to be smoothed is determined according to the length of the vehicle, the path repeated filtering area is established by taking the preset length as the radius and the track smoothing center point as the circle center, the repeated cruise path in the map data to be smoothed is removed according to the path repeated filtering area according to different position relations, the problem of map construction failure caused by vehicle positioning drift due to track overlapping is solved, the rejection of the repeated track is realized, the compensation arc track is generated or the driving point and the parking driving point is determined, the smooth driving track is generated, the automatic parking track of the vehicle is established, and the user experience is improved.

On the basis of the above embodiment, generating a compensated arc track between a last forward gear position point and a first reverse gear position point in to-be-smoothed map data according to a path repeated filtering area includes:

determining at least one intersection point of a cruising path and a path repeated filtering area in the data to be smoothly constructed;

specifically, at least one intersection of the vehicle cruising path and the acquired path repeated filtering area containing the repeated invalid path in the map data to be smoothed may be determined.

Taking a first intersection point with the largest timestamp in at least one intersection point as a first position point and a second intersection point with the smallest timestamp as a second position point;

in this embodiment, the time stamp may include an immediate point in time of the vehicle travel time at the intersection of the vehicle cruising path and the path repeated filtering area.

Specifically, as shown in fig. 4, a first intersection having a maximum time stamp in at least one intersection of the vehicle cruising path and the path repeated filtering area may be taken as a first location point, and a second intersection having a minimum time stamp in the intersection may be taken as a second location point.

Determining a first tangent line and a second tangent line passing through the first position point and the second position point on the path repeated filtering area respectively;

Specifically, as shown in fig. 4, a first tangent line and a second tangent line at a first location point and a second location point, respectively, on the path repeated filtering area may be determined.

And determining an included angle formed by the first tangent line and the second tangent line, and taking an arc line passing through the first position point and the second position point corresponding to the included angle as a compensation arc line track.

Specifically, as shown in fig. 4, the perpendicular lines corresponding to the first tangent line and the second tangent line may be made, the intersection point of the two perpendicular lines is used as the center of a circle, the first position point and the second position point are used as two points on a circle, and the circular arc between the first position point and the second position point is used as the compensation arc track to perfect the cruising path in the data of the map to be built smoothly.

On the basis of the above embodiment, determining a parking entry point and a parking exit point of the map data to be smoothly constructed according to the path repetition filtering area includes:

And taking the third intersection point with the smallest time stamp in at least one intersection point as a parking entry point and the fourth intersection point with the largest time stamp as the parking entry point.

Specifically, as shown in fig. 5, a third intersection of the vehicle cruising path and the minimum time stamp within at least one intersection of the path repeated filtering regions may be taken as a parking entry point and a fourth intersection having the maximum time stamp may be taken as a parking entry point.

In an embodiment, fig. 6 is a flowchart of another navigation track smoothing method provided in the embodiment of the present invention, and based on the foregoing embodiments, the present embodiment is taken as a preferred embodiment, and a navigation track smoothing process is specifically described in a scenario where a repetitive track exists near a non-target parking space and a repetitive track exists near a target parking point.

As shown in fig. 6, another navigation track smoothing method provided in this embodiment may include:

s310, a user builds a map path.

Specifically, the user may pre-drive the vehicle to travel through the parking route and establish an initial path of the navigation map.

S320, traversing the verification.

Specifically, the initial path of the navigation map may be traversed, and the traversing manner may include preamble traversal, middle-order traversal, and subsequent traversal.

S330, judging whether a reversing path exists.

Specifically, by traversing the initial path of the navigation map, it can be determined whether a reverse path exists in the initial path.

S340, if the reversing path does not exist, storing the initial path.

Specifically, if the traversal is performed, no reversing path exists in the initial path, the initial path of the navigation map can be directly stored and used as a path of the subsequent navigation.

And S350, if a reversing path exists, judging whether the reversing path is near the target parking spot.

Specifically, if the initial path has a reversing path after traversing, it can be determined whether the reversing path exists near the target parking spot.

And S360, if the vehicle is not near the target parking point, eliminating the repeated invalid path, generating a compensation arc track between the last forward gear position point and the first reverse gear position point, and storing the processed path.

Specifically, if the reverse path is not near the target parking point, the repeated invalid path may be removed according to the processing mode when the position relationship between the turning driving path and the target parking point of the to-be-smoothed map data is the first position relationship, a compensated arc track between the last forward gear position point and the first reverse gear position point is generated, the navigation path is perfected, and the processed path may be stored as the subsequent navigation path.

And S370, if the vehicle is near the target parking point, eliminating the repeated invalid path, determining the parking entry point and the parking exit point of the cruising path, and storing the processed path.

Specifically, fig. 7 is a schematic view of a scenario in which another turning driving path is located near a target parking point, a vehicle turns in an original direction and there is a situation of switching between reverse gear and forward gear, as shown in fig. 7, if a reversing path is near the target parking point, a repeated invalid path may be removed according to a processing manner when a positional relationship between the turning driving path and the target parking point of the to-be-smoothed map data is a second positional relationship, a parking driving point and a parking driving point of a cruising path may be determined, and the processed path may be stored as a subsequent navigation path.

And S380, finishing the navigation track smoothing processing.

According to the technical scheme provided by the embodiment of the invention, whether a reversing path exists in the initial path is judged by traversing the initial path of the navigation map established by the driving parking route of the vehicle in advance by a user, if the reversing path does not exist, the initial path is directly stored, if the reversing path exists, whether the reversing path is near a target parking point is judged, if the reversing path does not exist near the target parking point, a repeated invalid path is removed, a compensation arc track between a last forward gear position point and a first reverse gear position point is generated, if the repeated invalid path is removed near the target parking point, a cruising path parking entry point and a parking exit point are determined, the processed path is stored, the problem that the map establishment failure caused by vehicle positioning drift occurs due to track overlapping is solved, the generation of a smooth navigation track is realized, a reasonable vehicle automatic parking track is established, and the driving experience of the user is improved.

In an embodiment, fig. 8 is a schematic structural diagram of a navigation track smoothing device according to an embodiment of the present invention. The present embodiment can perform the above-described implementation. The embodiment can be applied to the situation that the memory parking technology establishes a memory route, and the device can be realized in a hardware/software mode and can be configured in electronic equipment.

As shown in fig. 8, the navigation track smoothing device provided in the present embodiment includes: a path verification module 401, a smoothing center module 402 and a smoothing processing module 403, wherein:

the path checking module 401 is configured to determine that the turning driving path exists in the data to be smoothly constructed according to a preset map checking policy.

The smoothing center module 402 is configured to determine a track smoothing center point based on a positional relationship between the turning travel path and the map data to be smoothed.

The smoothing processing module 403 is configured to determine a path repeated filtering area according to the track smoothing center point, and process the to-be-smoothed mapping data according to the path repeated filtering area and the positional relationship.

Based on the above embodiment, the path checking module 401 includes:

and the cruising track extraction unit is used for traversing and extracting the cruising track of the data to be smoothly built according to the path extraction sequence of the preset map verification strategy.

And the turning driving path determining unit is used for taking the matched cruise track as a turning driving path when the cruise track is matched with the reverse gear characteristic point corresponding to the preset map verification strategy.

Based on the above embodiment, the smoothing center module 402 includes:

and the position relation judging unit is used for judging whether the turning driving path is positioned in the threshold range of the target parking point of the to-be-smoothed map building data.

And the position relation determining unit is used for determining that the position relation is the first position relation if not, and determining that the position relation is the second position relation if yes.

And the track smoothing center point unit is used for taking the midpoint positions of the last forward gear position point and the first reverse gear position point of the turning driving path as track smoothing center points when the position relationship is the first position relationship.

And the track smoothing center point two unit is used for taking the center point of the target parking point as the track smoothing center point when the position relation is the second position relation.

On the basis of the above embodiment, the smoothing processing module 403 includes:

the preset length determining unit is used for determining the preset length corresponding to the to-be-smoothed mapping data.

And the path repeated filtering area determining unit is used for determining a circular area as a path repeated filtering area by taking the preset length as a radius and taking the track smooth center point as a circle center in the to-be-smoothed map building data.

And the repeated cruising path removing unit is used for removing the repeated cruising path of the to-be-smoothed map building data according to the path repeated filtering area when the position relationship is the first position relationship, and generating a compensation arc track between the last forward gear position point and the first reverse gear position point in the to-be-smoothed map building data according to the path repeated filtering area.

And the repeated cruising path removing unit is used for removing the repeated cruising path of the map data to be evaluated according to the path repeated filtering area when the position relationship is the second position relationship, and determining the parking entry point and the parking exit point of the map data to be smoothed according to the path repeated filtering area.

On the basis of the above embodiment, the navigation track smoothing device further includes:

and the smooth map data storage module is used for storing the processed map data to be smoothed as smooth map data.

The navigation track smoothing device provided by the embodiment of the invention can execute any navigation track smoothing method provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. Reference is made to the description of any method embodiment of the invention for details not described in this embodiment.

In an embodiment, fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. Electronic device 50, which may be used to implement embodiments of the present invention, is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 9, the electronic device 50 includes at least one processor 51, and a memory, such as a Read Only Memory (ROM) 52, a Random Access Memory (RAM) 53, etc., communicatively connected to the at least one processor 51, in which the memory stores a computer program executable by the at least one processor, and the processor 51 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 52 or the computer program loaded from the storage unit 58 into the Random Access Memory (RAM) 53. In the RAM 53, various programs and data required for the operation of the electronic device 50 can also be stored. The processor 51, RAM 52 and RAM 53 are connected to each other by a bus 54. An input/output (I/O) interface 55 is also connected to bus 54.

Various components in the electronic device 50 are connected to the I/O interface 55, including: an input unit 55 such as a keyboard, a mouse, etc.; an output unit 57 such as various types of displays, speakers, and the like; a storage unit 58 such as a magnetic disk, an optical disk, or the like; and a communication unit 59 such as a network card, modem, wireless communication transceiver, etc. The communication unit 59 allows the electronic device 50 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunications networks.

The processor 51 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 51 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 51 performs the various methods and processes described above, such as the navigation track smoothing method.

In some embodiments, the navigation track smoothing method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 58. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 50 via the ROM 52 and/or the communication unit 59. When the computer program is loaded into RAM 53 and executed by processor 51, one or more steps of the navigation track smoothing method described above may be performed. Alternatively, in other embodiments, the processor 51 may be configured to perform the navigation track smoothing method in any other suitable way (e.g., by means of firmware).

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

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

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

Claims

1. A navigation track smoothing method, comprising:

and determining a path repeated filtering area according to the track smoothing center point, and processing the to-be-smoothed mapping data according to the path repeated filtering area and the position relation.

2. The method according to claim 1, wherein the determining that the turning driving path exists in the data to be smoothly mapped according to the preset mapping strategy includes:

traversing and extracting the cruising track of the map data to be smoothly built according to the path extraction sequence of the preset map verification strategy;

and when the cruise track is matched with a reverse gear characteristic point corresponding to the preset map verification strategy, taking the matched cruise track as the turning driving path.

3. The method of claim 1, wherein the determining a trajectory smoothing center point based on the positional relationship of the turning travel path and the map data to be smoothed comprises:

judging whether the turning driving path is positioned in a threshold range of a target parking point of the map data to be smoothly built or not;

if not, determining the position relationship as a first position relationship, and if so, determining the position relationship as a second position relationship;

when the position relationship is the first position relationship, taking the midpoint positions of the last forward gear position point and the first reverse gear position point of the turning driving path as the track smoothing center point;

and when the position relation is the second position relation, taking the central point of the target parking point as the track smoothing central point.

4. The method of claim 3, wherein determining a path-repeated filtering area according to the trajectory smoothing center point, and processing the to-be-smoothed mapping data according to the path-repeated filtering area and the positional relationship comprises:

determining a preset length corresponding to the to-be-smoothed mapping data;

determining a circular area as the path repeated filtering area by taking the preset length as a radius and the track smooth center point as a circle center in the to-be-smoothed map building data;

if the position relation is the first position relation, eliminating the repeated cruising path of the to-be-smoothed map building data according to the path repeated filtering area, and generating a compensation arc track between the last forward gear position point and the first reverse gear position point in the to-be-smoothed map building data according to the path repeated filtering area;

and if the position relation is the second position relation, eliminating the repeated cruising path of the to-be-smoothed map data according to the path repeated filtering area, and determining the parking entry point and the parking exit point of the to-be-smoothed map data according to the path repeated filtering area.

5. The method of claim 4, wherein the generating a compensated arc trajectory between the last forward position point and the first reverse position point within the to-be-smoothed map data by repeating the filtering region according to the path comprises:

determining at least one intersection point of a cruising path in the map data to be smoothed and the path repeated filtering area;

taking a first intersection point with the largest timestamp in the at least one intersection point as a first position point and a second intersection point with the smallest timestamp as a second position point;

determining a first tangent and a second tangent on the path repeated filtering area passing through the first position point and the second position point respectively;

and determining an included angle formed by the first tangent line and the second tangent line, and taking an arc line passing through the first position point and the second position point corresponding to the included angle as the compensation arc line track.

6. The method of claim 4, wherein determining the parking entry point and the parking exit point of the map data to be smoothed according to the path repetition filtering area comprises:

And taking a third intersection point with the smallest time stamp in the at least one intersection point as the parking entry point and a fourth intersection point with the largest time stamp as the parking entry point.

7. The method as recited in claim 1, further comprising:

and storing the data to be smoothed as smoothed construction data after the processing.

8. A navigation track smoothing device, characterized by comprising:

and the smoothing processing module is used for determining a path repeated filtering area according to the track smoothing center point and processing the to-be-smoothed mapping data according to the path repeated filtering area and the position relation.

9. An electronic device, the electronic device comprising:

at least one processor; and

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

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the navigation track smoothing method of any one of claims 1-7.

10. A computer readable storage medium storing computer instructions for causing a processor to implement the navigation track smoothing method of any one of claims 1-7 when executed.