CN107941229A - Vehicle positioning method and vehicle positioning system - Google Patents

Vehicle positioning method and vehicle positioning system Download PDF

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Publication number
CN107941229A
CN107941229A CN201610895372.4A CN201610895372A CN107941229A CN 107941229 A CN107941229 A CN 107941229A CN 201610895372 A CN201610895372 A CN 201610895372A CN 107941229 A CN107941229 A CN 107941229A
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China
Prior art keywords
vehicle
moment
candidate roads
road
candidate
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CN201610895372.4A
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Chinese (zh)
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CN107941229B (en
Inventor
刘欣
吴兴昊
梁世宽
刘进锋
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Banma Zhixing Network Hongkong Co Ltd
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Alibaba Group Holding Ltd
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    • 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
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance

Abstract

This application discloses a kind of vehicle positioning method and Vehicle positioning system.The vehicle positioning method includes the following steps：According to the positioning result and map datum at the first moment, the candidate roads information of a plurality of candidate roads at the first moment of lookup；The positioning result at first moment and candidate roads information are stored to buffer area, wherein the buffer area is stored with the positioning result and candidate roads information at the top n moment at the first moment；Judge whether the positioning at the first moment meets default rule；When the positioning at the first moment meets preset rules, the data in the buffer area select best candidate road from the candidate roads.

Description

Vehicle positioning method and Vehicle positioning system
Technical field
This application involves vehicle mounted guidance field, more particularly to a kind of vehicle positioning method and Vehicle positioning system.
Background technology
Nowadays, as the increase increased with trip requirements of vehicle, dependence of the people to vehicle mounted guidance are more and more stronger.Lead Whether boat positioning is accurate to become the most important factor that people select on-vehicle navigation apparatus.
Existing onboard navigation system is generally positioned using following method：Vehicle is set in on-vehicle navigation apparatus Positioning unit and map match unit；Vehicle locating unit positions the position of vehicle in real time, and send positioning result to Map match unit；Road in the positioning result and map datum is carried out similarity mode by map match unit, by vehicle It is shown on matched road.The distance of road, headstock traveling side are often arrived in matching according to vehicle location (i.e. positioning result) To depending on the difference with road direction, by above-mentioned distance and headstock, the direction of road, select after Optimum Matching road again Positioning result is shown on map.
From the foregoing, in the existing localization method based on map, the driving path of vehicle is all matched map number On road in, and matching process all has independence over time and space, that is to say, that on each time point, The process matched somebody with somebody all is independent, and the matching matched with next time point at a upper time point is simultaneously irrelevant.However, vehicle is real Moved on border according to certain rule on road, the matching process of existing each time point independence fails to refer to vehicle The characteristics of motion, existing map matching technology is all over time and space independent, have ignored the continuous of state of motion of vehicle The key property of change, caused by result be exactly vehicle may occur on map jump, offset and low-angle fork road The problems such as long-time matching error.
The content of the invention
In view of the above problems, the purpose of the present invention is to propose to a kind of vehicle positioning method and vehicle positioning system, to solve Jump, offset and low-angle fork road long-time matching error may occur on map for vehicle existing in the prior art The problems such as.
To solve the above-mentioned problems, one embodiment of the application discloses a kind of vehicle positioning method, including：
According to the positioning result and map datum at the first moment, the candidate roads of a plurality of candidate roads at the first moment of lookup Information；
The positioning result at first moment and candidate roads information are stored to buffer area, wherein the buffer area stores There are the positioning result and candidate roads information at the top n moment at the first moment；
Judge whether the positioning at the first moment meets default rule；
When the positioning at the first moment meets preset rules, the data in the buffer area are from the candidate roads Select best candidate road.
To solve the above-mentioned problems, another embodiment of the application discloses a kind of Vehicle positioning system, including：
Candidate roads searching module, for the positioning result and map datum according to the first moment, searched for the first moment The candidate roads information of a plurality of candidate roads；
Memory module, for storing the positioning result at first moment and candidate roads information to buffer area, wherein The buffer area is stored with the positioning result and candidate roads information at top n moment；
Judgment module, for judging whether the positioning at the first moment meets default rule；
Model choices module, for when the positioning at the first moment meets preset rules, according to the number in the buffer area According to the selection best candidate road from the candidate roads.
A kind of smart machine is also disclosed in one embodiment of the application, including：
One or more processors；
Memory；With
One or more modules, one or more of modules are stored in the memory and are configured to by described one A or multiple processors perform, wherein, one or more of modules are configured to carry out above-mentioned method.
A kind of smart machine, including input equipment, processor and output equipment is also disclosed in another embodiment of the application：
The input equipment is coupled to the processor, for obtaining the positioning result at the first moment；
The processor is used to search a plurality of of the first moment according to the positioning result according to the first moment and map datum The candidate roads information of candidate roads；The positioning result at first moment and candidate roads information are stored to buffer area, its Described in buffer area be stored with the first moment the top n moment positioning result and candidate roads information；Judge at the first moment Positioning whether meet default rule；And the positioning at the first moment is when meeting preset rules, according in the buffer area Data select best candidate road from the candidate roads；
The output equipment is coupled to the processor, for exporting the best candidate road.
A kind of internet automobile is also disclosed in another embodiment of the application, including vehicle intelligent equipment, the vehicle intelligent are set It is standby to include vehicle-mounted input equipment, in-vehicle processor and vehicle-mounted output equipment,
The vehicle-mounted input equipment is coupled to the in-vehicle processor, for obtaining the positioning result at the first moment；
The in-vehicle processor is used to search a plurality of of the first moment according to the positioning result and map datum at the first moment The candidate roads information of candidate roads；The positioning result at first moment and candidate roads information are stored to buffer area, its Described in buffer area be stored with the first moment the top n moment positioning result and candidate roads information；Judge at the first moment Positioning whether meet default rule；And the positioning at the first moment is when meeting preset rules, according in the buffer area Data select best candidate road from the candidate roads；
The vehicle-mounted output equipment is coupled to the in-vehicle processor, for exporting the best candidate road.
A kind of vehicle-mounted internet operating system is also disclosed in another embodiment of the application, including：
Acquiring unit, controls vehicle-mounted input equipment to obtain the positioning result at the first moment；
Processing unit, control in-vehicle processor searched for the first moment according to the positioning result and map datum at the first moment The candidate roads information of a plurality of candidate roads；The positioning result at first moment and candidate roads information are stored to caching Area, wherein the buffer area is stored with the positioning result and candidate roads information at the top n moment at the first moment；Judge first Whether the positioning at moment meets default rule；And the positioning at the first moment is when meeting preset rules, according to the buffer area In data best candidate road is selected from the candidate roads；
Output unit, controls vehicle-mounted output equipment to export the best candidate road.
In conclusion the embodiment of the present application has the following advantages：
In vehicle positioning method provided in an embodiment of the present invention and vehicle positioning system, in order to lift the standard of map match True property, using vehicle the consecutive variations of motion state key property, add one caching section, for storing nearest N The positioning result at a moment, that is, candidate roads information, candidate roads information is except that can include historical juncture matched optimal path Outside, other matching candidate roads of historical juncture can also be stored so that onboard navigation system can judge car according to these information Motion state, avoid vehicle may occur on map jump, offset and low-angle fork road for a long time match Mistake, there is provided more accurately vehicle map matches, sensitive to low-angle fork road phenomena such as preventing fix drift, jump Identification, positioning is more accurate, and road correct switch is detected and matched for matching error and provides strong support.
Brief description of the drawings
Fig. 1 show the schematic diagram of the application scenarios of one embodiment of the invention.
Fig. 2 show the flow chart of the vehicle positioning method of first embodiment of the invention.
Fig. 3 show the flow chart of the vehicle positioning method of second embodiment of the invention.
Fig. 4 show the block diagram of the Vehicle positioning system of third embodiment of the invention.
Fig. 5 show the block diagram of the Vehicle positioning system of fourth embodiment of the invention.
Fig. 6 is the hardware architecture diagram for the computing device that one embodiment of the application provides,
Fig. 7 is the hardware architecture diagram for the computing device that another embodiment of the application provides.
Fig. 8 is the schematic diagram of the vehicle-mounted internet operating system of the application.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, the technical solution in the embodiment of the present application is carried out clear, complete Site preparation describes, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on Embodiment in the application, those of ordinary skill in the art's all other embodiments obtained, belong to the application protection Scope.
One of core concept of the application is, proposes a kind of localization method, in order to lift the accuracy of map match, A caching section is added in map match unit, for storing the matching result and positioning knot at 3-5 nearest moment Fruit, matching result can also store other matching candidates of historical juncture in addition to it can include historical juncture matched optimal path Road, so as to provide strong support for motion state judgement and matching error detection and matching road correct switch.
Fig. 1 show the schematic diagram of the application scenarios of one embodiment of the invention.As shown in Figure 1, for the low-angle in Fig. 1 Y types fork road, if vehicle is travelled along road C, has arrived the fork crossing of road A and road B, when vehicle selects road B, For existing map match, onboard navigation system can run into situations below：At tetra- moment of t1 to t4, due to Liang Tiaolu The direction difference of A and B is smaller, and the map match unit of onboard navigation system can be the location matches of vehicle to road A；When When being fitted on the t5 moment, although match point is nearer apart from road B, provided due to the vehicle locating unit of onboard navigation system Anchor point is little apart from the distance and direction of traffic and road A directions difference of road A, and map match unit still can be by vehicle Location matches on road A.So that need very long a distance, i.e., anchor point with a distance from road A or direction of traffic with When road A directions difference is sufficiently large, vehicle location could be switched to road B by map match unit.And in the present invention, vehicle-mounted Spatial cache is set in the map match unit of navigation system, the positioning result of t1 to t5 moment and candidate roads information are protected There are the reference in the spatial cache as follow-up position matching.At the t5 moment, since the weight of road A and road B more connect Closely, and fork on the road is in, caching can be started at this time and judged, according to the motion state at several moment before preservation, can be sentenced The trend of vehicle right-hand rotation is made, therefore correct matching road, i.e. road B can be quickly switched at the t5 moment.
The solution of the present invention is introduced below by way of multiple embodiments.
First embodiment
Fig. 2 show the flow chart of the vehicle positioning method of first embodiment of the invention.As shown in Fig. 2, the present invention is implemented The method of example includes the following steps：
S201, according to the positioning result and map datum at the first moment, the time of a plurality of candidate roads at the first moment of lookup Select road information；
Onboard navigation system usually includes vehicle locating unit and map match unit, and wherein vehicle locating unit is used In the position that vehicle is obtained using GPS or network, that is, receive the signal of multi-satellite transmitting and be pocessed, obtain satellite extremely The distance of receiver user, so that it is determined that the information such as the longitude and latitude of vehicle, height, speed, time, i.e. positioning result；Map The positioning result for being used to obtain vehicle locating unit with unit is similar to the road progress in preassembled map datum Degree matching.That is, after vehicle locating unit obtains positioning result, vehicle locating unit sends the location data to map match Unit, map match unit will by specific algorithms selection map with the immediate position of the positioning result, such as certain One or several road.
During map match, map match unit matches immediate according to positioning result on map datum Some candidate roads.For example, the t3 moment in Fig. 1, after vehicle locating unit obtains positioning result, begins look for Vehicle may road.It was found that positional information where vehicle and the road A and road that are provided in preassembled map datum Road B is matched, therefore vehicle may be on road A, it is also possible on road B.Therefore map match unit is from a plurality of road Selection road A and road B is preserved as candidate roads, and by candidate roads A and B.
S202, the positioning result at first moment and candidate roads information are stored to buffer area, wherein the caching Area is stored with the positioning result and candidate roads information at the top n moment at the first moment；
In this step, a buffer area can be set in onboard navigation system, for by the positioning at top n moment As a result it is stored in wherein with candidate roads information.This buffer area can be arranged in map match unit to be called with facilitating, or Other any data-storable positions in person's onboard navigation system.In buffer area, data can be deposited such as the mode of table 1 Storage, i.e. at each moment at top n moment, the data stored include：The moment positioning result, for example, longitude, latitude, The contents such as the direction of headstock；The candidate roads information at the moment, such as the matching weight of the candidate roads A at the moment (match Confidence level), the projector distance of vehicle location result and the road, direction of traffic and the angle of the road direction；Candidate roads B Matching weight, projector distance, direction of traffic and the angle of the road direction of vehicle location result and the road；Candidate roads The matching weight of C, the projector distance of vehicle location result and the road, direction of traffic and the angle of the road direction.
In addition, the matching weight of road can be according to the projector distance of vehicle location result and road, headstock and road The parameters such as angle, are calculated using specific formula, belong to the prior art, details are not described herein.
It is worth noting that, " the top n moment " herein be preferably the first moment before it is N number of continuous at the time of, such as Can be time series as t-0.5 seconds, t-1 seconds, t-1.5 seconds, t-2 seconds when current time is t, at the time of top n is continuous. But the present invention is not limited thereto.In addition, the time interval between at the time of top n is continuous is preferably identical, but this hair It is bright to be not limited thereto.
Table 1
The number N at above-mentioned time point can be set by developer, be not particularly limited herein, as long as can pass through this The motion state change of time point corresponding data reflection vehicle a bit.In certain embodiments, N for example can be 3,4 It is a, 5 etc..For example, when being stored with 4 moment t in buffer areaN-4、tN-3、tN-2、tN-1Data when, it is current obtaining Moment tNPositioning result and candidate roads information after, the data in buffer area are refreshed, delete moment tN-4Data, make It is t to obtain the data currently preservedN-3、tN-2、tN-1、tNThe data at moment.
S203, judges whether the positioning at the first moment meets default rule；
In this step, can be current to judge according to the site of road, state of motion of vehicle change being currently located Whether positioning meets preset rules.
For example, in Fig. 1, for low-angle Y types fork road, at the t5 moment, onboard navigation system calculates The weight of candidate roads A and the weight of candidate roads B are closer to, while data can know that vehicle is in bifurcated according to the map Crossing, onboard navigation system is difficult to judge which bar road vehicle is physically located at this time, therefore judges that current positioning states are expired Sufficient preset rules, then should subsequently be determined whether.
It is believed that above-mentioned preset rules are：The highest road of weight and weight in the first moment a plurality of candidate roads The difference of the weight of secondary high road is less than preset value.Follow-up determine whether should be just carried out in this case.
For example, in Fig. 1, if the weight of candidate roads A and candidate roads B differ very little, such as weight A and weight B The weight difference of middle the greater and smaller are in a default scope, it may be considered that only candidate roads A can not be selected with weight Or candidate roads B, then can start caching judgment mechanism and be determined whether.
In addition, if candidate roads are more than two, can for example there is candidate roads A, candidate roads B and candidate roads D To judge the highest candidate roads (such as candidate roads A) of weight and the highest candidate roads (such as candidate roads B) of weight time Weight difference whether be less than preset value, the method for double differences of holding power is in a default scope, it may be considered that only can not select to wait with weight Seek road A or candidate roads B or candidate roads C, then can start caching judgment mechanism and be determined whether.
S204, when the positioning at the first moment meets preset rules, data in the buffer area are from the candidate Best candidate road is selected in road.
When the judging result of step S203 is to meet preset rules, then in this step, the number of buffer area can be utilized According to the movement tendency of vehicle being judged, so that the correct road according to where the movement tendency judges the first moment vehicle.
Continuation is illustrated with the t5 moment of Fig. 1.At this moment, the data such as table 2 below in buffer area：
Table 2
Wherein, with (t5Longitude, t5Latitude, t5Direction) exemplified by this positioning result, t5Longitude, t5LatitudeIt is vehicle locating unit according to connecing The longitude and latitude for the vehicle that received multiple gps satellite signals calculate, t5DirectionIt is multiple according to what is received for vehicle locating unit The direction for the vehicle that gps satellite signal calculates, such as the angle with direct north can be expressed as.
By taking (road A, weight 5, distance 5, angle 5) this candidate roads information as an example, distance 5 can be vehicle and the road Beeline, the angle 5 of road A can be direction of traffic and the angle in road A directions.
According to above- mentioned information, when the road A and the weight difference of road B that are such as calculated at the t5 moment are little, vehicle mounted guidance System can for example determine that vehicle should be matched with candidate roads A or candidate roads B according to following manner：
1. the variation tendency for the direction for passing through headstock judges：From the t2 moment to the t5 moment, the direction of headstock always with to The direction of road B moves closer to, and away from the direction of road A, therefore may determine that becoming for the oriented candidate roads B movements of vehicle Gesture, therefore the position of vehicle can be matched with candidate roads B at the t5 moment；
2. judged by the variation tendency of candidate roads A and the weight of candidate roads B：From the t2 moment to t5 moment, candidate The weight of road B is gradually reduced, and the weight of road A gradually increases, therefore may determine that becoming for the oriented candidate roads B movements of vehicle Gesture, therefore the position of vehicle can be matched with candidate roads B at the t5 moment；
3. judged by the variation tendency of vehicle and the distance of candidate roads A and candidate roads B：During from the t2 moment to t5 Carve, the distance of vehicle and road B is gradually reduced, and is gradually increased with the distance of road A, therefore may determine that the oriented candidate of vehicle The trend of road B movements, therefore the position of vehicle can be matched with candidate roads B at the t5 moment；
4. become by the change of the angle between the angle between vehicle and candidate roads A and vehicle and candidate roads B Gesture judges：From the t2 moment to the t5 moment, the angle of vehicle and road B is gradually reduced, and is gradually increased with the angle of road A, because This may determine that vehicle has the trend moved along candidate roads B, therefore can be by the position of vehicle and candidate road at the t5 moment Road B is matched.
, can be according to the combination of above-mentioned a kind of mode or various ways, according to preservation by foregoing description The motion state at top n moment, it can be determined that go out the trend of vehicle right-hand rotation, therefore correct can be quickly switched at the t5 moment With road, i.e. road B.
In conclusion in the vehicle positioning method that first embodiment of the invention provides, in order to lift the standard of map match True property, using vehicle the consecutive variations of motion state key property, add one caching section, for storing nearest N The positioning result at a moment, that is, candidate roads information, candidate roads information is except that can include historical juncture matched optimal path Outside, other matching candidate roads of historical juncture can also be stored so that onboard navigation system can judge car according to these information Motion state, avoid vehicle may occur on map jump, offset and low-angle fork road for a long time match Mistake, there is provided more accurately vehicle map matches, sensitive to low-angle fork road phenomena such as preventing fix drift, jump Identification, positioning is more accurate, and road correct switch is detected and matched for matching error and provides strong support.
Second embodiment
Fig. 3 show the flow chart of the vehicle positioning method of second embodiment of the invention.As shown in figure 3, the present invention is implemented The method of example includes the following steps：
S301, according to the positioning result and map datum at the first moment, the candidate roads information at the first moment of lookup；
S302, writes buffer area, wherein the buffer area by the positioning result at first moment and candidate roads information It is stored with the positioning result and candidate roads information at the top n moment at the first moment；
S303, judges whether the positioning at the first moment meets default rule；
In this step, current time can be judged according to the site of road that is currently located, motion state change Whether positioning states meet preset rules, such as：Vehicle is currently at fork on the road, near intersection, and user occurs to turn, falls First-class behavior, user movement state are not inconsistent (speed, travel direction etc.) with real road data.
S304, when the positioning at the first moment meets preset rules, data in the buffer area are from the candidate Best candidate road is selected in road.
When the judging result of step S303 meets preset rules, then in this step, can to the data of buffer area, The movement tendency of vehicle is judged, so that the correct road according to where the movement tendency judges the first moment vehicle.
Step S201, S202, S204 in above-mentioned steps S301, S302, S304 and first embodiment is same or similar, This is repeated no more.The present embodiment stresses to introduce the content different from a upper embodiment.
It is during whether the positioning for judging at the first moment meets default rule in the step S303 of the present embodiment, it is above-mentioned pre- If judgment rule can be：When meeting following one or more of situations, that is, need to start caching judgment mechanism：
1. vehicle is near fork on the road (such as Y-shaped bifurcated road, more bifurcated roads)；
In this case, the map datum on by map match unit determines nearby there is fork crossing, and passes through Vehicle locating unit determine vehicle positioned at fork crossing near when, onboard navigation system may determine that meet preset rules, it is necessary to Determine whether.Low-angle fork crossing in Fig. 1 is typically to start the application of caching judgment mechanism at fork crossing.
2. vehicle is near intersection；
In this case, the map datum on by map match unit determines that vehicle is located at T-shaped road junction, cross Near the intersection such as crossing or five forks in the road, and when determining that vehicle is located near intersection by vehicle locating unit, Each more difficult definite vehicle of branch road weight onboard navigation system is intended to which upper branch road of traveling, therefore may determine that the default rule of satisfaction Then, it is necessary to be determined whether.
3. turning behavior occurs for vehicle；
In this case, when vehicle locating unit detects that vehicle is being turned, but onboard navigation system is not true The intention travelled after fixed turning, has a plurality of nearer road apart can be for vehicle traveling or map match after either turning Unit can not search the road of the corresponding turning behavior on map datum, then may determine that and meet preset rules, it is necessary to carry out Determine whether.
4. the behaviors such as vehicle turns around；
In this case, when vehicle locating unit detects that vehicle is turning around, but onboard navigation system is not true Surely the intention travelled after turning around, or there is a plurality of nearer road apart to be travelled for vehicle after turning around, then it may determine that full Sufficient preset rules are, it is necessary to be determined whether.
5. state of motion of vehicle (speed, travel direction etc.) is not inconsistent with real road data.
In this step, when vehicle locating unit detect vehicle motion state and reality road data be not inconsistent, Such as display vehicle is under steam, but map match unit can not find road on corresponding map datum.In this feelings It then may determine that under condition and meet preset rules, it is necessary to be determined whether.
In conclusion onboard navigation system can start caching judgement machine according to the combination of above-mentioned one or more of situations System, so as to more accurately be judged.
Alternatively, in the embodiment, vehicle positioning method further includes following steps：
S305, by vehicle location matching display to the best candidate road.
After step S304 selects best candidate road from the candidate roads, in the present embodiment, map match Unit can include vehicle on best candidate road corresponding with map datum.Such as in Fig. 1, selecting road B After best candidate road, in this step, map match unit can by the position display of vehicle on map most In excellent candidate roads, for user's real time inspection.
In conclusion in the vehicle positioning method that second embodiment of the invention provides, in order to lift the standard of map match True property, using vehicle the consecutive variations of motion state key property, add caching section, for store recently it is N number of when The positioning result at quarter, that is, candidate roads information, candidate roads information is in addition to it can include historical juncture matched optimal path, also Other matching candidate roads of historical juncture can be stored so that onboard navigation system can judge the fortune of vehicle according to these information Dynamic state, jump, offset and low-angle fork road long-time matching error may be occurred on map by avoiding vehicle, Phenomena such as providing more accurately vehicle map matching, preventing fix drift, jump, the sensitive identification of road of diverging to low-angle, Positioning is more accurate, and road correct switch is detected and matched for matching error and provides strong support.
Meanwhile the specific method for judging whether to need startup caching judgment mechanism is provided in the present embodiment, when full Specifically a variety of judgment rules of default judgment rule for the moment, that is, open caching judgment mechanism so that onboard navigation system energy to foot Enough motion states that vehicle is judged according to these information, jump, offset and small angle may be occurred on map by avoiding vehicle Degree fork road long-time matching error.
3rd embodiment
Fig. 4 show the block diagram of the Vehicle positioning system of third embodiment of the invention.As shown in figure 4, the present invention is implemented The Vehicle positioning system of example includes candidate roads searching module 401, memory module 402, judgment module 403 and Model choices module 404。
Candidate roads searching module 401 is used for positioning result and map datum according to the first moment, searches for the first moment A plurality of candidate roads candidate roads information.
Wherein, positioning result is to be determined by vehicle locating unit using the localization method based on GPS or network base station The real time positioning data that position method provides, map datum is the storage for prestoring or being stored in immediately in Vehicle positioning system Space.Above-mentioned candidate roads searching module 401 may belong to foregoing map match unit, can also be independently of map With unit, it is used for according to positioning result, and immediate some candidate roads are matched on map datum.When candidate roads are looked into Look for module 401 find vehicle where positional information and preassembled map datum in the road A and equal of road B that provide Match somebody with somebody, it can select road A and road B to be preserved as candidate roads, and by candidate roads A and B from a plurality of road.
Memory module 402 is used to store the positioning result at first moment and candidate roads information to buffer area, its Described in buffer area be stored with the positioning result and candidate roads information at top n moment.
Wherein, onboard navigation system can be provided with buffer area, the buffer area can be arranged in map match unit with It is convenient to call, or other any data-storable positions in onboard navigation system.Before memory module 402 may belong to The map match unit stated, can also independently of map match unit, its be used for by top n moment positioning result such as longitude, The content such as direction of latitude, headstock；The candidate roads information at the moment, for example, the weight of the candidate roads at the moment, vehicle with Beeline, direction of traffic and the road direction angle of the road etc. are stored to buffer area.
Judgment module 403 is used to judge whether the positioning at the first moment meets default rule.
Wherein, judgment module 403 can judge to be according to the motion state change for the site of road, vehicle being currently located It is no to need to start caching judgment mechanism.Judgment module 403 may belong to foregoing map match unit, can also be independently of map Matching unit.The site of road being currently located can according to the map matching unit map datum obtain, the motion state of vehicle It can be obtained by vehicle locating unit.Above-mentioned preset rules are, for example,：When the difference of the weight of a plurality of candidate roads calculated During less than preset value, that is, need to start caching judgment mechanism.
When the positioning that Model choices module 404 is used at the first moment meets preset rules, according in the buffer area Data select best candidate road from the candidate roads.
It is to meet preset rules in the judging result of judgment module 403, then Model choices module 404 can be to buffer area Data, judge the movement tendency of vehicle, so that the correct road according to where the movement tendency judges the first moment vehicle.Road Selecting module 404 may belong to foregoing map match unit, can also be independently of map match unit.
In conclusion in the vehicle positioning system that third embodiment of the invention provides, in order to lift the standard of map match True property, using vehicle the consecutive variations of motion state key property, vehicle positioning system add caching section, be used for Positioning result, that is, candidate roads the information at storage nearest N number of moment, candidate roads information are matched except that can include the historical juncture Outside optimal path, other matching candidate roads of historical juncture can be also stored so that onboard navigation system can be according to these letters Breath judges the motion state of vehicle, and jump, offset and low-angle fork road length may be occurred on map by avoiding vehicle Time match mistake, there is provided more accurately vehicle map matches, and phenomena such as preventing fix drift, jump, diverges to low-angle The sensitive identification of road, positioning is more accurate, and road correct switch is detected and matched for matching error and provides strong support.
Fourth embodiment
Fig. 5 show the block diagram of the Vehicle positioning system of fourth embodiment of the invention.As shown in figure 5, the present invention is implemented The Vehicle positioning system of example includes candidate roads searching module 501, memory module 502, judgment module 503 and judgment module 503 In.
Candidate roads searching module 501 is used for positioning result and map datum according to the first moment, searches for the first moment A plurality of candidate roads candidate roads information.
Memory module 502 is used to store the positioning result at first moment and candidate roads information to buffer area, its Described in buffer area be stored with the positioning result and candidate roads information at top n moment.
Judgment module 503 is used to judge whether the positioning at the first moment meets default rule.
When the positioning that Model choices module 504 is used at the first moment meets preset rules, according in the buffer area Data select best candidate road from the candidate roads.
The module 401 to 404 of above-mentioned module 501 to 504 and a upper embodiment is same or similar, and details are not described herein, this The difference that embodiment stresses just with above-described embodiment illustrates.
As above-mentioned, judgment module 503 is used to judge whether the positioning at the first moment meets default rule, in this implementation In example, the preset rules for example can be：
The difference of the weight of the highest candidate roads of weight and the secondary high candidate roads of weight is less than pre- in a plurality of candidate roads If value.
In the present embodiment, the Model choices module 504 for example can be used for according to the number updated in the buffer area According to the movement tendency for calculating the vehicle, best candidate road is selected from the candidate roads according to the movement tendency of the vehicle Road.
Alternatively, the movement tendency of the vehicle includes following one or more：
The variation tendency of the direction of headstock；
Such as in Fig. 1, from the t2 moment to the t5 moment, vehicle is moved closer to the direction of road B always, and remote The direction of road A, therefore may determine that the trend of the oriented candidate roads B movements of vehicle, it can be determined by this variation tendency The position of vehicle can be matched with candidate roads B at the t5 moment.
The variation tendency of the weight of a plurality of candidate roads；
Such as in Fig. 1, from the t2 moment to the t5 moment, the weight of candidate roads B is gradually reduced, and the weight of road A is gradual Increase, therefore may determine that the trend of the oriented candidate roads B movements of vehicle, it can be determined at the t5 moment by this variation tendency The position of vehicle can be matched with candidate roads B.
Vehicle and the variation tendency of the distance of each candidate roads；
Such as in Fig. 1, from the t2 moment to the t5 moment, the distance of vehicle and road B is gradually reduced, and with road A away from It from gradual increase, therefore may determine that the trend of the oriented candidate roads B movements of vehicle, can be determined by this variation tendency The t5 moment can match the position of vehicle with candidate roads B.
The variation tendency of vehicle and the angle of each candidate roads；
Such as in Fig. 1, from the t2 moment to the t5 moment, the angle of vehicle and road B is gradually reduced, and with the folder of road A Contend it is cumulative plus, therefore may determine that vehicle has the trend moved along candidate roads B, can be determined by this variation tendency The position of vehicle can be matched with candidate roads B at the t5 moment.
In the present embodiment, the preset rules include following one or more：
When the distance of the fork on the road on the positioning result and map datum of vehicle is less than predetermined value, judge to meet default Rule；Judgment module 503 can include the first Distance Judgment submodule 5031, for whether detecting above-mentioned distance less than predetermined Value.When less than predetermined value, meet preset rules.
When the intersection on the positioning result and map datum of vehicle is apart less than predetermined value, judge to meet default rule Then；Judgment module 503 can include second distance judging submodule 5032, for detecting whether above-mentioned distance is less than predetermined value. When less than predetermined value, meet preset rules.
When judging that vehicle is being turned according to the positioning result of vehicle, judgement meets preset rules；Judgment module 503 can With including turning judging submodule 5033, for detecting whether vehicle is turning.When detecting that vehicle is being turned, meet Preset rules.
When judging that vehicle is turning around according to the positioning result of vehicle, judgement meets preset rules；Judgment module 503 can With including the judging submodule 5034 that turns around, for detecting whether vehicle is turning around.When detecting that vehicle is turning around, meet Preset rules.
When detecting that state of motion of vehicle is not inconsistent with map datum according to the positioning result of vehicle, judge to meet to preset Rule.Judgment module 503 can include motion state judging submodule 5035, for detecting state of motion of vehicle and map datum Whether it is consistent.When detecting that state of motion of vehicle is not inconsistent with map datum, meet preset rules.
Further optionally, the vehicle positioning system can also include matching display module 505, for by vehicle location Matching is shown to the best candidate road.
After Model choices module selects best candidate road, in the present embodiment, matching display module 505 can incite somebody to action Vehicle is shown on best candidate road corresponding with map datum.Such as it is best candidate selecting road B in Fig. 1 After road, matching display module 505 can be by best candidate road of the position display of vehicle on map, for user Real time inspection.Matching display module 505 may belong to map match unit, can also exist independently of map match unit.
In conclusion in vehicle positioning system provided in an embodiment of the present invention, in order to lift the accuracy of map match, Using vehicle in the key property of the consecutive variations of motion state, buffer area is added, for storing the positioning at nearest N number of moment As a result it is candidate roads information, candidate roads information can also be stored and gone through in addition to it can include historical juncture matched optimal path Other matching candidate roads at history moment so that onboard navigation system can judge the motion state of vehicle according to these information, Jump, offset and low-angle fork road long-time matching error may be occurred on map by avoiding vehicle, there is provided more Accurately vehicle map matches, and phenomena such as preventing fix drift, jump, the sensitive identification of road of diverging to low-angle, positioning is more Precisely, road correct switch being detected and matched for matching error, strong support is provided.
Meanwhile the specific method for judging whether to need startup caching judgment mechanism is provided in the present embodiment, when full Specifically a variety of judgment rules of default judgment rule for the moment, that is, open caching judgment mechanism so that onboard navigation system energy to foot Enough motion states that vehicle is judged according to these information, jump, offset and small angle may be occurred on map by avoiding vehicle Degree fork road long-time matching error.
For device embodiment, since it is substantially similar to embodiment of the method, so describe fairly simple, it is related Part illustrates referring to the part of embodiment of the method.
The embodiment of the present application additionally provides a kind of non-volatile readable storage medium, be stored with the storage medium one or Multiple modules (programs), when which is used in terminal device, can cause the terminal device to perform The instruction (instructions) of various method steps in the embodiment of the present application.
Fig. 6 is the hardware architecture diagram for the computing device that one embodiment of the application provides, which includes service Device and intelligent terminal, the intelligent terminal is using the various intelligent terminals described in above-described embodiment, including the first user-association is set The standby and associated equipment of second user.As shown in fig. 6, the computing device can be set including input equipment 60, processor 61, output Standby 62, memory 63 and at least one communication bus 64.Communication bus 64 is used for realization the communication connection between element.Memory 63 may include high-speed RAM memory, it is also possible to further include non-volatile memories NVM, for example, at least a magnetic disk storage, deposit Various programs can be stored in reservoir 63, for completing various processing functions and realizing the method and step of the present embodiment.
Optionally, above-mentioned processor 61 for example can be central processing unit (Central Processing Unit, abbreviation CPU), application specific integrated circuit (ASIC), digital signal processor (DSP), digital signal processing appts (DSPD), programmable Logical device (PLD), field programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic components are real Existing, which is coupled to above-mentioned input equipment 60 and output equipment 62 by wired or wireless connection.
Optionally, above-mentioned input equipment 60 can include a variety of input equipments, such as can include user oriented user Interface, device oriented equipment interface, the programmable interface of software, camera, code reader, touch-screen, audio input device, penetrate At least one of frequency reader, heating power sensing apparatus.Optionally, which can be used for equipment with setting The wireline interface that carries out data transmission between standby, can also be hardware insertion for carrying out data transmission between equipment and equipment Interface (such as USB interface, serial ports etc.)；Optionally, which for example can be user oriented control Button, the voice-input device for receiving phonetic entry and user receive the touch awareness apparatus (example of user's touch input Such as there is touch-screen, the Trackpad of touch sensing function)；Optionally, the programmable interface of above-mentioned software can be supplied User, which edits, either changes the entrance of program such as the input pin interface or input interface of chip；Optionally, above-mentioned receipts Sender can have rf chip, baseband processing chip and dual-mode antenna of communication function etc..The sounds such as microphone Frequency input equipment can receive voice data, radio frequency reader etc. and electronic tag can be identified by RFID modes, take the photograph As first-class image capture device can identify Quick Response Code etc. with shooting image, the scan input device such as code reader can scan bar code Deng.Output equipment 62 includes the output equipments such as display, sound equipment.The display be used for display interface display reminding information, Article demand information etc..
In the present embodiment, the processor of the computing device includes being used to perform above-mentioned module, concrete function and technology effect Fruit is with reference to above-described embodiment, and details are not described herein again.
Fig. 7 is a kind of block diagram for onboard system that one embodiment of the application provides.The onboard system 80 can be one integrated The equipment of multiple functions, for example, the onboard system can be vehicle-mounted computer, vehicle device etc., which can include above-mentioned Vehicle intelligent equipment.
With reference to Fig. 7, onboard system 80 can include following one or more assemblies：Processing component 82, memory 84, power supply Component 86, multimedia component 88, audio component 810, the interface 812 of input/output (I/O), sensor component 814, Yi Jitong Believe component 816.
Processing component 82 usually controls the integrated operation of onboard system 80, such as with display, call, data communication, The operation that camera operation and record operation are associated.Processing component 82 can refer to including one or more processors 821 to perform Order, to complete all or part of step of above-mentioned vehicle positioning method.In addition, processing component 82 can include one or more moulds Block, easy to the interaction between processing component 82 and other assemblies.For example, processing component 82 can include multi-media module, with side Just the interaction between multimedia component 88 and processing component 82.
Memory 84 is configured as storing various types of data to support the operation in onboard system 80.These data Example includes the instruction of any application program or method for being operated on onboard system 80, contact data, telephone directory number According to, message, picture, video etc..Memory 84 can by any kind of volatibility or non-volatile memory device or they Combination realize, as static RAM (SRAM), electrically erasable programmable read-only memory (EEPROM) are erasable Programmable read only memory (EPROM), programmable read only memory (PROM), read-only storage (ROM), magnetic memory, quick flashing Memory, disk or CD.
Power supply module 86 provides electric power for the various assemblies of onboard system 80.Power supply module 86 can include power management system System, one or more power supplys, and other components associated with generating, managing and distributing electric power for onboard system 80.
Multimedia component 88 is included in the screen of one output interface of offer between the onboard system 80 and user. In some embodiments, screen can include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel, Screen may be implemented as touch-screen, to receive input signal from the user.Touch panel includes one or more touch and passes Sensor is to sense the gesture on touch, slip and touch panel.The touch sensor can not only sense touch or slide dynamic The border of work, but also detection and the duration and pressure associated with the touch or slide operation.In certain embodiments, it is more Media component 88 can also include front camera.
Audio component 810 is configured as output and/or input audio signal.For example, audio component 810 includes a Mike Wind (MIC), when onboard system 80 is in operator scheme, during such as call model, logging mode and speech recognition mode, microphone quilt It is configured to receive external audio signal.The received audio signal can be further stored in memory 84 or via communication set Part 816 is sent.In certain embodiments, audio component 810 further includes a loudspeaker, for exports audio signal.
I/O interfaces 812 provide interface between processing component 82 and peripheral interface module, and above-mentioned peripheral interface module can be with It is click wheel, button etc..These buttons may include but be not limited to：Volume button, start button and locking press button.
Sensor component 814 includes one or more sensors, for providing the state of various aspects for onboard system 80 Assessment.In certain embodiments, which can also include acceleration transducer, gyro sensor, magnetic sensing Device, pressure sensor or temperature sensor.
Communication component 816 is configured to facilitate the communication of wired or wireless way between onboard system 80 and other equipment. Onboard system 80 can access the wireless network based on communication standard, such as WiFi, 2G or 3G, or combinations thereof.Show at one In example property embodiment, communication component 816 receives broadcast singal or broadcast from external broadcasting management system via broadcast channel Relevant information.In one exemplary embodiment, the communication component 816 further includes near-field communication (NFC) module, short to promote Cheng Tongxin.For example, radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band can be based in NFC module (UWB) technology, bluetooth (BT) technology and other technologies are realized.
In the exemplary embodiment, onboard system 800 can be by one or more application application-specific integrated circuit (ASIC), number Word signal processor (DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for performing above-mentioned vehicle group traveling Method.
In above-mentioned Fig. 7 on the description of general smart machine on the basis of, present invention also provides another embodiment, The present embodiment specifically discloses a kind of vehicle intelligent equipment, be, for example, internet automobile in integrate electronic system and mobile phone, Tablet computer etc. is various to have the electronic equipment for calculating processing function.Optionally, which can be incorporated into friendship In the central control system of logical instrument, such as it can be incorporated into the onboard system involved by above-described embodiment.Optionally, should Onboard system can be the system that the vehicle device on vehicle integrates, such as onboard navigation system and/or vehicle entertainment system, may be used also To be comprising system vehicle device and vehicle other equipment such as sensor.Optionally, the vehicle intelligent for being used for the vehicles Equipment includes but not limited to：Control device that vehicle device equipment, the vehicles add after dispatching from the factory etc..
It can include specifically, this is used for vehicle intelligent equipment：Airborne input equipment, airborne processor, airborne output are set Standby and other optional equipments.It should be noted that " airborne input equipment ", " airborne output involved by the embodiment of the present application It is airborne in equipment ", " airborne processor ", can be " vehicle-mounted input equipment ", " the vehicle-mounted output equipment " being carried on vehicle And " in-vehicle processor ", it can also be and be carried on carry-on " airborne input equipment ", " airborne output equipment ", " airborne Processor ", can also be the equipment being carried on the other types vehicles, the embodiment of the present application to the implication of " airborne " not Limit.By taking the vehicles are vehicles as an example, which can be that vehicle-mounted input equipment, airborne processor can be In-vehicle processor, airborne output equipment can be vehicle-mounted output equipments.
Depending on the difference of the types of the vehicles installed, above-mentioned airborne processor can use various application specifics Integrated circuit (ASIC), digital signal processor (DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), central processing unit (CPU), controller, microcontroller, microprocessor or other electricity Subcomponent is realized, and is used to perform the above method.Above-mentioned airborne processor is coupled to above-mentioned by in-car circuit or wireless connection Airborne input equipment and airborne output equipment.According to the method in the corresponding embodiments of above-mentioned Fig. 2 to 3, the airborne processor The candidate roads information of a plurality of candidate roads at the first moment is searched according to the positioning result at the first moment and map datum；By institute The positioning result and candidate roads information for stating for the first moment are stored to buffer area, wherein the buffer area was stored with for the first moment The positioning result and candidate roads information at top n moment；Judge whether the positioning at the first moment meets default rule；And When the positioning at the first moment meets preset rules, the data in the buffer area select optimal time from the candidate roads Seek road.
Depending on the difference of the types of the vehicles installed, above-mentioned airborne output equipment can be can with user into The interface (such as voice broadcast equipment, loudspeaker, earphone etc.) of row interaction, alternatively, can also be handheld device with user etc. The transceiver being wirelessly transferred is established, which can be coupled to above-mentioned machine by in-car circuit or wireless mode Carry input equipment and airborne processor.According to the method in the corresponding embodiments of above-mentioned Fig. 2 to 3, the airborne output equipment is defeated Go out the best candidate road.
Depending on the difference of the types of the vehicles installed, above-mentioned airborne input equipment can include a variety of inputs and set It is standby, such as can include in user oriented vehicle-mounted user interface, device oriented mobile unit interface, transceiver at least One.Optionally, which can wired be connect for what is carried out data transmission between equipment and equipment Mouthful (such as on the console of vehicle with the line between car door on the connecting interface of automobile data recorder, the console of vehicle Road interface, vehicle console on the hardware interface between on-board air conditioner), can also be between equipment and equipment into Hardware insertion interface (such as USB interface, serial ports etc.), the safe carrying spigots that can also be vehicle, the vehicle hair of row data transfer Interface between the hardware facilities such as motivation and other control devices etc.；Optionally, the user oriented vehicle-mounted user interface is for example Can be the steering wheel control button for vehicle, the middle control control button for oversize vehicle or dilly, for receiving Phonetic entry voice-input device (for example, be placed in steering wheel or operate rudder on microphone, centralized voice collecting device, Etc.) and user receive the touch awareness apparatus of user's touch input and (such as touch-screen with touch sensing function, touch Control plate etc.)；Optionally, above-mentioned transceiver can be rf chip, the Base-Band Processing core for having in vehicle communication function Piece and dual-mode antenna etc..According to the method in the corresponding embodiments of above-mentioned Fig. 2 to 3, the airborne input equipment obtains first The positioning result at moment.
The embodiment of the present application also provides a kind of processor readable storage medium, and have program stored therein instruction in storage medium, journey Sequence instruction is used to make processor perform the vehicle positioning method in above-described embodiment described in Fig. 2 to Fig. 3.The processor readable storage Medium is similar with above-mentioned non-volatile readable storage medium, therefore repeats no more.
On the basis of above-described embodiment, the application also provides a kind of vehicle-mounted internet operating system.People in the art Member is it is appreciated that the vehicle-mounted internet operating system can manage and control the hardware of the smart machine shown in above-mentioned Fig. 6 or Fig. 7 Either involved by the hardware of onboard system or the hardware and the application for Vehicle positioning system involved by the application The computer program of software resource, is to run directly in above-mentioned smart machine or for involved by internet automobile or above-mentioned Fig. 7 And onboard system on software.The operating system can be that user arouses equipment or for the vehicles with above-mentioned voice Voice arouses the interface of equipment or the interface of hardware and other softwares.
The vehicle-mounted internet operating system that the application provides, can be handed over the module of other on vehicle or function device Mutually, to control the function of corresponding module or function device.
Specifically, by taking the vehicles in above-described embodiment are vehicle, vehicle intelligent equipment is the vehicle device on vehicle as an example, The vehicle-mounted internet operating system provided based on the application and the development of vehicle communication technology so that vehicle is no longer independently of logical Beyond communication network, vehicle can be interconnected network consisting with server-side or the webserver, so as to be formed vehicle-mounted mutual Networking.The vehicle-mounted internet system can provide voice communications services, positioning service, navigation Service, mobile internet access, car Emergency relief, vehicle data and management service, car entertainment service etc..
The structure diagram of the vehicle-mounted internet operating system provided the following detailed description of the application.Fig. 8 is the application one The structure diagram for the vehicle-mounted internet operating system that embodiment provides.The vehicle-mounted internet operating system includes：
Acquiring unit 91, controls vehicle-mounted input equipment to obtain the positioning result at the first moment；
Processing unit 92, control in-vehicle processor searched for the first moment according to the positioning result and map datum at the first moment A plurality of candidate roads candidate roads information；The positioning result at first moment and candidate roads information are stored to caching Area, wherein the buffer area is stored with the positioning result and candidate roads information at the top n moment at the first moment；Judge first Whether the positioning at moment meets default rule；And the positioning at the first moment is when meeting preset rules, according to the buffer area In data best candidate road is selected from the candidate roads；
Output unit 93, controls vehicle-mounted output equipment to export the best candidate road.
Each embodiment in this specification is described by the way of progressive, what each embodiment stressed be with The difference of other embodiment, between each embodiment identical similar part mutually referring to.
It should be understood by those skilled in the art that, the embodiment of the embodiment of the present application can be provided as method, apparatus or calculate Machine program product.Therefore, the embodiment of the present application can use complete hardware embodiment, complete software embodiment or combine software and The form of the embodiment of hardware aspect.Moreover, the embodiment of the present application can use one or more wherein include computer can With in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of program code The form of the computer program product of implementation.
In a typical configuration, the computer equipment includes one or more processors (CPU), input/output Interface, network interface and memory.Memory may include the volatile memory in computer-readable medium, random access memory The form such as device (RAM) and/or Nonvolatile memory, such as read-only storage (ROM) or flash memory (flash RAM).Memory is to calculate The example of machine computer-readable recording medium.Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be with Realize that information stores by any method or technique.Information can be computer-readable instruction, data structure, the module of program or Other data.The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), dynamic random access memory (DRAM), other kinds of random access memory (RAM), read-only storage (ROM), electrically erasable programmable read-only memory (EEPROM), fast flash memory bank or other memory techniques, read-only optical disc are read-only Memory (CD-ROM), digital versatile disc (DVD) or other optical storages, magnetic cassette tape, tape magnetic rigid disk storage or Other magnetic storage apparatus or any other non-transmission medium, the information that can be accessed by a computing device available for storage.According to Herein defines, and computer-readable medium does not include the computer readable media (transitory media) of non-standing, such as The data-signal and carrier wave of modulation.
The embodiment of the present application is with reference to according to the method for the embodiment of the present application, terminal device (system) and computer program The flowchart and/or the block diagram of product describes.It should be understood that it can realize flowchart and/or the block diagram by computer program instructions In each flow and/or block and flowchart and/or the block diagram in flow and/or square frame combination.These can be provided Computer program instructions are set to all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing terminals Standby processor is to produce a machine so that is held by the processor of computer or other programmable data processing terminal equipments Capable instruction is produced and is used for realization in one flow of flow chart or multiple flows and/or one square frame of block diagram or multiple square frames The device for the function of specifying.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing terminal equipments In the computer-readable memory to work in a specific way so that the instruction being stored in the computer-readable memory produces bag The manufacture of command device is included, which realizes in one flow of flow chart or multiple flows and/or one side of block diagram The function of being specified in frame or multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing terminal equipments so that Series of operation steps is performed on computer or other programmable terminal equipments to produce computer implemented processing, so that The instruction performed on computer or other programmable terminal equipments is provided and is used for realization in one flow of flow chart or multiple flows And/or specified in one square frame of block diagram or multiple square frames function the step of.
Although having been described for the preferred embodiment of the embodiment of the present application, those skilled in the art once know base This creative concept, then can make these embodiments other change and modification.So appended claims are intended to be construed to Including preferred embodiment and fall into all change and modification of the embodiment of the present application scope.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation Between there are any actual relationship or order.Moreover, term " comprising ", "comprising" or its any other variant meaning Covering non-exclusive inclusion, so that process, method, article or terminal device including a series of elements are not only wrapped Those key elements are included, but also including other elements that are not explicitly listed, or further include as this process, method, article Or the key element that terminal device is intrinsic.In the absence of more restrictions, wanted by what sentence "including a ..." limited Element, it is not excluded that also there are other identical element in the process including the key element, method, article or terminal device.
Above to a kind of vehicle positioning method provided herein and a kind of Vehicle positioning system, detailed Jie has been carried out Continue, specific case used herein is set forth the principle and embodiment of the application, and the explanation of above example is only It is to be used to help understand the present processes and its core concept；Meanwhile for those of ordinary skill in the art, according to this Shen Thought please, there will be changes in specific embodiments and applications, in conclusion this specification content should not manage Solve as the limitation to the application.

Claims (22)

  1. A kind of 1. vehicle positioning method, it is characterised in that including：
    According to the positioning result and map datum at the first moment, the candidate roads for searching a plurality of candidate roads at the first moment are believed Breath；
    The positioning result at first moment and candidate roads information are stored to buffer area, wherein the buffer area is stored with The positioning result and candidate roads information at the top n moment at one moment；
    Judge whether the positioning at the first moment meets default rule；
    When the positioning at the first moment meets preset rules, the data in the buffer area are selected from the candidate roads Best candidate road.
  2. 2. vehicle positioning method as claimed in claim 1, it is characterised in that the positioning result at first moment includes first The direction of the longitude at moment, latitude and headstock.
  3. 3. vehicle positioning method as claimed in claim 1, it is characterised in that the candidate roads packet of each candidate roads Include the matching weight of every candidate roads, the distance of the positioning result to the candidate roads, the direction of headstock and the time Select the angle of road direction.
  4. 4. vehicle positioning method as claimed in claim 1, it is characterised in that the default rule includes：
    The difference of the weight of the highest road of weight and the secondary high road of weight is less than default in the first moment a plurality of candidate roads Value.
  5. 5. vehicle positioning method as claimed in claim 1, it is characterised in that the data updated according to the buffer area are from described Select to include the step of best candidate road in candidate roads：
    In multiple moment, the data in the buffer area calculate the movement tendency of the vehicle, according to the vehicle Movement tendency selects best candidate road from the candidate roads.
  6. 6. vehicle positioning method as claimed in claim 5, it is characterised in that the movement tendency of the vehicle includes following a kind of It is or a variety of：
    The variation tendency of the direction of headstock；
    The variation tendency of the weight of a plurality of candidate roads；
    Vehicle and the variation tendency of the distance of each candidate roads.
    The variation tendency of vehicle and the angle of each candidate roads.
  7. 7. vehicle positioning method as claimed in claim 5, it is characterised in that
    The direction of headstock described in multiple moment and the direction of first candidate roads therein move closer to and and other When the direction of candidate roads is gradually deviated from, judge first road for best candidate road；
    When the gradual increase of the weight of second candidate roads therein in multiple moment, the weight of other candidate roads is gradual During reduction, judge second road for best candidate road；
    The distance of the vehicle described in multiple moment and one article of the 3rd candidate roads therein be gradually reduced and with other candidate roads When the distance on road gradually increases, judge the 3rd candidate roads for best candidate road；
    The vehicle described in multiple moment and the angle in the direction of one article of the 4th candidate roads therein be gradually reduced and and other When the angle in the direction of candidate roads gradually increases, judge the 4th road for best candidate road.
  8. 8. vehicle positioning method as claimed in claim 1, it is characterised in that the preset rules include following one kind or more Kind：
    Fork on the road on the positioning result and map datum of first moment vehicle is apart less than predetermined value；
    Intersection on the positioning result and map datum of first moment vehicle is apart less than predetermined value；
    First moment judged that vehicle was being turned according to the positioning result of vehicle；
    First moment judged that vehicle was turning around according to the positioning result of vehicle；
    First moment detected that state of motion of vehicle was not inconsistent with map datum according to the positioning result of vehicle.
  9. 9. vehicle positioning method as claimed in claim 1, it is characterised in that the data updated according to the buffer area are from described After selecting best candidate road in candidate roads, the method further includes：
    By vehicle location matching display to the best candidate road.
  10. A kind of 10. Vehicle positioning system, it is characterised in that including：
    Candidate roads searching module, for the positioning result and map datum according to the first moment, searches a plurality of of the first moment The candidate roads information of candidate roads；
    Memory module, for storing the positioning result at first moment and candidate roads information to buffer area, wherein described Buffer area is stored with the positioning result and candidate roads information at top n moment；
    Judgment module, for judging whether the positioning at the first moment meets default rule；
    Model choices module, for when the positioning at the first moment meets preset rules, data in the buffer area from Best candidate road is selected in the candidate roads.
  11. 11. Vehicle positioning system as claimed in claim 10, it is characterised in that the positioning result at first moment includes the The direction of the longitude at one moment, latitude and headstock.
  12. 12. Vehicle positioning system as claimed in claim 10, it is characterised in that the candidate roads information of each candidate roads Matching weight, the positioning result including every candidate roads to the distances of the candidate roads, the direction of headstock with it is described The angle in candidate roads direction.
  13. 13. Vehicle positioning system as claimed in claim 10, it is characterised in that the preset rules include：
    The difference of the weight of the highest candidate roads of weight and the secondary high candidate roads of weight in the first moment a plurality of candidate roads Less than preset value.
  14. 14. Vehicle positioning system as claimed in claim 10, it is characterised in that the Model choices module is used for：
    In multiple moment, the data in the buffer area calculate the movement tendency of the vehicle, according to the vehicle Movement tendency selects best candidate road from the candidate roads.
  15. 15. Vehicle positioning system as claimed in claim 14, it is characterised in that the movement tendency of the vehicle is included as next Kind is a variety of：
    The variation tendency of the direction of headstock；
    The variation tendency of the weight of a plurality of candidate roads；
    Vehicle and the variation tendency of the distance of each candidate roads.
  16. 16. Vehicle positioning system as claimed in claim 14, it is characterised in that
    The direction of headstock described in multiple moment and the angle in the direction of first candidate roads therein be gradually reduced and When gradually increasing with the angle in the direction of other candidate roads, judge first road for best candidate road；
    When the gradual increase of the weight of second candidate roads therein in multiple moment, the weight of other candidate roads is gradual During reduction, judge second road for best candidate road；
    The distance of the vehicle described in multiple moment and one article of the 3rd candidate roads therein be gradually reduced and with other candidate roads When the distance on road gradually increases, judge the 3rd candidate roads for best candidate road.
  17. 17. Vehicle positioning system as claimed in claim 10, it is characterised in that the preset rules include following one kind or It is a variety of：
    Fork on the road on the positioning result and map datum of first moment vehicle is apart less than predetermined value；
    Intersection on the positioning result and map datum of first moment vehicle is apart less than predetermined value；
    First moment judged that vehicle was being turned according to the positioning result of vehicle；
    First moment judged that vehicle was turning around according to the positioning result of vehicle；
    First moment detected that state of motion of vehicle was not inconsistent with map datum according to the positioning result of vehicle.
  18. 18. Vehicle positioning system as claimed in claim 9, it is characterised in that the system also includes：
    Display module is matched, for showing vehicle location matching to the best candidate road.
  19. A kind of 19. smart machine, it is characterised in that including：
    One or more processors；
    Memory；With
    One or more modules, one or more of modules be stored in the memory and be configured to by one or Multiple processors perform, wherein, one or more of modules are configured to carry out any sides of the claims 1-9 Method.
  20. 20. a kind of smart machine, it is characterised in that including input equipment, processor and output equipment：
    The input equipment is coupled to the processor, for obtaining the positioning result at the first moment；
    The processor is used for a plurality of candidate roads for searching for the first moment according to the positioning result and map datum at the first moment Candidate roads information；The positioning result at first moment and candidate roads information are stored to buffer area, wherein described slow Deposit positioning result and candidate roads information that area is stored with the top n moment at the first moment；Judging the positioning at the first moment is It is no to meet default rule；And the positioning at the first moment is when meeting preset rules, data in the buffer area are from institute State selection best candidate road in candidate roads；
    The output equipment is coupled to the processor, for exporting the best candidate road.
  21. 21. a kind of internet automobile, it is characterised in that including vehicle intelligent equipment, the vehicle intelligent equipment includes vehicle-mounted defeated Enter equipment, in-vehicle processor and vehicle-mounted output equipment,
    The vehicle-mounted input equipment is coupled to the in-vehicle processor, for obtaining the positioning result at the first moment；
    The in-vehicle processor is used for a plurality of candidate for searching for the first moment according to the positioning result and map datum at the first moment The candidate roads information of road；The positioning result at first moment and candidate roads information are stored to buffer area, wherein institute State positioning result and candidate roads information that buffer area is stored with the top n moment at the first moment；Judge to determine at the first moment Whether position meets default rule；And the positioning at the first moment is when meeting preset rules, according to the data in the buffer area Best candidate road is selected from the candidate roads；
    The vehicle-mounted output equipment is coupled to the in-vehicle processor, for exporting the best candidate road.
  22. A kind of 22. vehicle-mounted internet operating system, it is characterised in that including：
    Acquiring unit, controls vehicle-mounted input equipment to obtain the positioning result at the first moment；
    Processing unit, control in-vehicle processor search a plurality of of the first moment according to the positioning result and map datum at the first moment The candidate roads information of candidate roads；The positioning result at first moment and candidate roads information are stored to buffer area, its Described in buffer area be stored with the first moment the top n moment positioning result and candidate roads information；Judge at the first moment Positioning whether meet default rule；And the positioning at the first moment is when meeting preset rules, according in the buffer area Data select best candidate road from the candidate roads；
    Output unit, controls vehicle-mounted output equipment to export the best candidate road.
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