CN112857376A - Vehicle road matching method and device - Google Patents
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Abstract
The embodiment of the invention provides a vehicle road matching method and a vehicle road matching device, wherein the method comprises the following steps: when a road matching event aiming at a target vehicle is detected, determining candidate road information aiming at the target vehicle according to a plurality of road node information in a target map; determining candidate section information corresponding to the candidate road information; and determining target interval information corresponding to the target road information according to the candidate interval information so as to perform road matching on the target vehicle based on the target interval information. According to the embodiment of the invention, the current road is quickly matched during global path planning, the candidate road information is determined through the road node information, the target interval information corresponding to the target road information is further determined according to the candidate interval information, the road in the map where the matched vehicle is located can be quickly searched and matched according to the vehicle positioning result, the operation workload and the searching time are reduced, and the initial matching speed of the global path planning is accelerated.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle road matching method and device.
Background
Aiming at the automatic driving technology, one important loop relates to global path planning, and the global path planning of automatic driving is carried out by inputting the road of the vehicle in the current map. In global path planning, a design of common vehicle road matching is usually adopted, and a distance is calculated to search and find a closest distance point, so that a road where a vehicle is located is judged.
Disclosure of Invention
In view of the above, it is proposed to provide a method and a device for vehicle road matching that overcomes or at least partially solves the above mentioned problems, comprising:
a method of vehicle road matching, the method comprising:
when a road matching event aiming at a target vehicle is detected, determining candidate road information aiming at the target vehicle according to a plurality of road node information in a target map;
determining candidate section information corresponding to the candidate road information;
and determining target interval information corresponding to the target road information according to the candidate interval information so as to perform road matching on the target vehicle based on the target interval information.
Optionally, before the determining candidate road information for the target vehicle according to a plurality of road node information in a target map, the method further includes:
acquiring current position information of the target vehicle and a target map aiming at the current position information; wherein the target map includes a plurality of road node information;
the determining candidate road information for the target vehicle according to a plurality of road node information in a target map comprises:
and determining candidate road information for the target vehicle from the target map according to the current position information and the road node information.
Optionally, the determining candidate road information for the target vehicle from the target map according to the current position information and the plurality of road node information includes:
judging whether the target vehicle is in the road or not according to the current position information and the road node information;
and taking the road information of the target vehicle in the road as the candidate road information.
Optionally, the candidate road information includes a plurality of candidate road information, and the determining candidate section information corresponding to the candidate road information includes:
for each candidate road information, determining candidate section information corresponding to the candidate road information;
and obtaining a plurality of candidate section information according to the plurality of candidate road information.
Optionally, the candidate section information includes a candidate matching section and candidate section distance information, and the determining candidate section information corresponding to the candidate road information for each candidate road information includes:
determining the candidate matching interval section for each candidate road information;
and taking the interval distance information corresponding to the candidate matching interval as the candidate interval distance information.
Optionally, the determining the candidate matching section for each candidate road information includes:
determining a plurality of intermediate point information in the candidate road information aiming at each candidate road information;
and determining the candidate matching interval section according to the plurality of intermediate point information.
Optionally, the determining, according to the candidate section information, target section information corresponding to target road information to perform road matching on the target vehicle based on the target section information includes:
and determining target section information corresponding to the target road information from the candidate section information so as to perform road matching on the target vehicle based on the target section information.
An apparatus for vehicle road matching, the apparatus comprising:
the candidate road information determining module is used for determining candidate road information for a target vehicle according to a plurality of road node information in a target map when a road matching event for the target vehicle is detected;
the candidate section information determining module is used for determining candidate section information corresponding to the candidate road information;
and the road matching module is used for determining target interval section information corresponding to the target road information according to the candidate interval section information so as to perform road matching on the target vehicle based on the target interval section information.
Optionally, the apparatus further comprises:
the current position information and target map acquisition module is used for acquiring the current position information of the target vehicle and a target map aiming at the current position information; wherein the target map includes a plurality of road node information;
the candidate road information determination module includes:
and the candidate road information determining submodule is used for determining candidate road information aiming at the target vehicle from the target map according to the current position information and the road node information.
Optionally, the candidate road information determination sub-module includes:
the judging unit is used for judging whether the target vehicle is in the road or not according to the current position information and the road node information;
a candidate road information determination unit configured to take road information that the target vehicle is in a road as the candidate road information.
Optionally, the candidate road information includes a plurality of pieces, and the candidate block section information determining module includes:
the candidate section information determining submodule is used for determining candidate section information corresponding to the candidate road information aiming at each candidate road information;
and the candidate section information obtaining submodule is used for obtaining candidate section information according to the candidate road information.
A vehicle comprising a processor, a memory and a computer program stored on the memory and being executable on the processor, the computer program, when executed by the processor, implementing a method of vehicle road matching as described above.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method of vehicle road matching as set forth above.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, the candidate road information for the target vehicle is determined according to a plurality of road node information in the target map when the road matching event for the target vehicle is detected, then candidate section information corresponding to the candidate road information is determined, and further target section information corresponding to the target road information is determined according to the candidate section information, the target vehicle is subjected to road matching based on the target interval information, the current road is quickly matched when the global path is planned, candidate road information is determined through a plurality of road node information, and then according to the candidate section information, the target section information corresponding to the target road information is determined, and the road in the map where the matched vehicle is located can be quickly searched and matched according to the vehicle positioning result, so that the operation workload and the searching time are reduced, and the initial matching speed of the global path planning is accelerated.
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In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a flow chart illustrating steps of a method for vehicle road matching according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating steps in another method for vehicle road matching according to an embodiment of the present invention;
FIG. 3a is a schematic diagram of a road network in a map according to an embodiment of the present invention;
FIG. 3b is a schematic diagram of a vehicle relative to a roadway in accordance with an embodiment of the present invention;
FIG. 4 is a flow chart illustrating steps of a method for vehicle road matching in accordance with an embodiment of the present invention;
FIG. 5 is a schematic diagram of a road binary iteration process according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a vehicle road matching device according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a flowchart illustrating steps of a method for vehicle road matching according to an embodiment of the present invention may specifically include the following steps:
as an example, the road matching event may be a vehicle road matching event for global path planning, for example, when global path planning is performed for an automatic driving scenario, since a road in a current map where a target vehicle is located needs to be input, road matching may be triggered for the target vehicle in response to a global path planning requirement, so as to perform global path planning based on road positioning of the target vehicle, thereby implementing automatic driving.
In a specific implementation, when global path planning is performed on an automatic driving scenario, a road matching event for a target vehicle may be triggered, and when the road matching event for the target vehicle is detected, candidate road information for the target vehicle may be determined by using a vector method according to information of a plurality of road nodes in a target map where the target vehicle is located, for example, candidate roads may be screened for the target vehicle.
For example, the target map may be a current map of the target vehicle, the map may have a plurality of road network nodes (i.e., road node information), and the road network nodes may be used to screen out candidate roads (i.e., candidate road information) for the target vehicle by using a vector cross product method.
after determining the candidate road information, for the candidate road information, a dichotomy and an iteration method may be adopted to determine candidate section information corresponding to the candidate road information, so as to further perform road matching on the target vehicle according to the candidate section information.
In an example, the candidate road (i.e., candidate road information) may be calculated by a dichotomy method, and an iterative method may be combined to obtain the section information (i.e., candidate section information) for the target vehicle in the candidate road, where the section information may be road information of a small section in the candidate road, such as a section of the section matched by the target vehicle in the candidate road.
After the candidate section information is obtained, the target section information corresponding to the target road information can be determined according to the candidate section information, so that the target vehicle is subjected to road matching based on the target section information, and the road in the map where the matched vehicle is located can be quickly searched and matched according to the vehicle positioning result.
Compared with the traditional vehicle road matching method, the traditional vehicle road matching method mainly adopts a search algorithm for calculating the distance, namely, the road where the vehicle is located is judged by finding the closest distance point, but the method has large calculation amount and slow search progress; the invention can reduce the operation workload and shorten the search time by applying the design of the two-way road, adopting the vector dot product and the vector cross product for calculation and combining and utilizing the iteration method, thereby being capable of quickly matching the current road aiming at the target vehicle and achieving the initialization requirement of global path planning in automatic driving.
In the embodiment of the invention, the candidate road information for the target vehicle is determined according to a plurality of road node information in the target map when the road matching event for the target vehicle is detected, then candidate section information corresponding to the candidate road information is determined, and further target section information corresponding to the target road information is determined according to the candidate section information, the target vehicle is subjected to road matching based on the target interval information, the current road is quickly matched when the global path is planned, candidate road information is determined through a plurality of road node information, and then according to the candidate section information, the target section information corresponding to the target road information is determined, and the road in the map where the matched vehicle is located can be quickly searched and matched according to the vehicle positioning result, so that the operation workload and the searching time are reduced, and the initial matching speed of the global path planning is accelerated.
Referring to fig. 2, a flowchart illustrating steps of another vehicle road matching method according to an embodiment of the present invention is shown, which may specifically include the following steps:
the current position information may be positioning information for the target vehicle, such as position coordinate data for positioning the target vehicle may be acquired.
As an example, the target map may be a current map of the target vehicle, and the map may include a plurality of road node information, such as a plurality of road network nodes, which may be used to filter out candidate roads for the target vehicle.
When global path planning is performed for an automatic driving scene, a road matching event for a target vehicle may be triggered, and when the road matching event for the target vehicle is detected, current location information of the target vehicle and a target map for the current location information may be obtained, where the target map may include a plurality of road node information, so as to further match candidate road information for the target vehicle in the target map.
after the current position information and the plurality of road node information are obtained, a vector cross product method can be adopted, and according to the current position information and the plurality of road node information, preliminary selection of road matching is carried out on the target vehicle in the target map, so that candidate road information for the target vehicle can be obtained, and if alternative roads are screened for the target vehicle.
In an embodiment of the present invention, step 202 may include the following sub-steps:
judging whether the target vehicle is in the road or not according to the current position information and the road node information; and taking the road information of the target vehicle in the road as the candidate road information.
In practical application, a vector cross product method can be adopted to judge whether the target vehicle is in the road according to the current position information and the information of the plurality of road nodes, and then the road information of the target vehicle in the road can be used as candidate road information.
Specifically, for a road network in a target map (as shown in fig. 3 a) where a target vehicle is located, when candidate roads are screened for the target vehicle, the target vehicle may be matched with each edge in the road network, and vector cross product calculation is adopted, so that whether the target vehicle is located in a road of a certain edge may be determined according to a vector cross product calculation result, so as to preliminarily select candidate road information for the target vehicle, such as a plurality of candidate roads, from the target map.
In an example, since there may be two different relative position forms of the target vehicle and the road for each edge of the road network in the target map, as shown in fig. 3b, when the position (i.e. the current position information) of the target vehicle is P, there may be a relative position form of the target vehicle and the road AB, or a relative position form of the target vehicle and the road AC, it may be calculated by using a cross product vector group formula, and it is determined whether the target vehicle is in a road section, such as in the road AB section, or in the road AC section.
For example, the following cross product vector set formula can be used for calculation:
wherein the content of the first and second substances,
a vector value that may characterize road AB;
vector values of the target vehicle position P and the road AB node can be represented; as a result of the above-described computation of the vector product, it can be determined that the target vehicle is within the road AB section (as shown in fig. 3 b).
Because the traditional vehicle road matching method mainly adopts a search algorithm for calculating the distance, namely, the road where the vehicle is located is judged by finding the closest distance point, as shown in fig. 3a, the judgment is carried out only by depending on the distance, the distance from the position of a plurality of road points in a road network of a target map to the vehicle needs to be calculated, and the calculation amount is large.
According to the invention, by utilizing the road network nodes, the range can be initially selected only by adopting road connection points (such as A, B, C, D, E, F in fig. 3 a) in the road network of the target map, and vector cross product calculation is adopted according to the position of the target vehicle and the plurality of road connection points, so that the range of the road network where the target vehicle is located can be judged, and the alternative road can be preliminarily screened out.
According to the method and the device, distance calculation is not adopted when the alternative road is selected, but simpler vector product calculation is adopted, so that decision can be made based on the judgment result symbol through the vector product calculation to judge whether the target vehicle is in a certain road range, and whether the fine block section is further matched for the road or not is analyzed.
after determining the candidate road information, for the candidate road information, a dichotomy and an iteration method may be adopted to determine candidate section information corresponding to the candidate road information, so as to further perform road matching on the target vehicle according to the candidate section information.
And 204, determining target interval information corresponding to the target road information according to the candidate interval information, and performing road matching on the target vehicle based on the target interval information.
After the candidate section information is obtained, the target section information corresponding to the target road information can be determined according to the candidate section information, so that the target vehicle is subjected to road matching based on the target section information, and the road in the map where the matched vehicle is located can be quickly searched and matched according to the vehicle positioning result.
Referring to fig. 4, a flowchart illustrating steps of another vehicle road matching method according to an embodiment of the present invention is shown, which may specifically include the following steps:
when the global path planning is performed for the automatic driving scene, a road matching event for the target vehicle may be triggered, and when the road matching event for the target vehicle is detected, candidate road information for the target vehicle may be determined by using a vector method according to a plurality of pieces of road node information in a target map where the target vehicle is located, where the candidate road information may include a plurality of candidate roads, for example, a plurality of candidate roads are screened for the target vehicle.
in a specific implementation, for each candidate road information, a dichotomy and an iteration method may be adopted to determine candidate section information corresponding to the candidate road information, so as to further perform road matching on the target vehicle according to the candidate section information.
In an embodiment of the present invention, the candidate section information may include candidate matching sections and candidate section distance information, and step 402 may include the following sub-steps:
a substep 11 of determining, for each candidate road information, the candidate matching block section;
in practical application, a dichotomy method and an iteration method can be adopted for each candidate road information, and then a candidate matching section can be determined.
For example, in the process of matching the cell segments of the alternative roads, dichotomy calculation may be adopted for each alternative road, and the matching segment (i.e., the candidate matching segment) in the alternative road is quickly obtained, that is, the small segment range located to the alternative road may be quickly matched by road dichotomy, and the matching process may use a vector method and an iterative method in combination.
In an example, when the candidate road is calculated to match the cell segment, the binary method is adopted for calculation, so that the calculation amount of sequential search is reduced, and the time for matching the candidate road to the cell segment is shortened, for example, when a road has N nodes, the best matching cell segment can be obtained by adopting an ordinary method and N times of calculation, but the invention only needs log2(N) times of calculation, and further the candidate road can be quickly matched with the cell segment.
In an embodiment of the present invention, the sub-step 11 may include the following sub-steps:
determining a plurality of intermediate point information in the candidate road information aiming at each candidate road information; and determining the candidate matching interval section according to the plurality of intermediate point information.
In practical applications, for each candidate road information, a plurality of intermediate point information in the candidate road information may be determined,
and then an iteration method can be adopted to obtain a candidate matching interval section according to the plurality of intermediate point information.
In an example, as shown in fig. 5, a middle point C of the AB may be selected (i.e., middle point information), then a vector method may be adopted to determine that the target vehicle matches the BC segment or the AC segment in the AB road, and so on, and through continuous iteration, a range of the MN segment (i.e., candidate matching segment) in the AB road where the target vehicle matches the target vehicle may be obtained, and the iteration may be performed in the following manner:
MN＝sel{AC,BC}＝sel{AC,sel{BD,CD}}＝...
for the BC segment and the AC segment in the AB, it may be determined to further iterate for the BC segment, and then, it may be determined and iterated for the BD segment and the CD segment in the BC, so that an iteration result may be obtained as an MN segment.
The matching section of the alternative road is obtained by adopting the dichotomy, so that the calculation amount is simplified, and the target vehicle can be quickly judged to be in the currently matched section road or out of the section road by adopting the vector method, so that the speed of initializing and matching the road is accelerated.
And a substep 12 of using the interval distance information corresponding to the candidate matching interval as the candidate interval distance information.
After the candidate matching block section is obtained, the block section distance information corresponding to the candidate matching block section, namely the distance from the target vehicle to the candidate road to which the candidate matching block section belongs, can be calculated by adopting a vector dot product, and then the candidate block section distance information can be obtained, so that the candidate block section information can be determined according to the candidate matching block section and the candidate block section distance information.
For example, the candidate section distance information may be obtained as follows:
wherein the distance d from the target vehicle to the AB roadABCan be equal to the distance d of the target vehicle to the small segment of MNMN；
The vector values of the target vehicle position P and the M node in the MN small segment can be characterized,
vector values that can characterize MN small segments; norm may be a function that can assign length and size to a vector in vector space.
In an example, the candidate road can be matched to a small section by bisection, so that the distance from the target vehicle to the candidate road can be calculated more accurately, the accuracy of the initial matching road is higher, and a prominent effect can be achieved when the road of a large curve is matched.
According to the method, the alternative road is subjected to dichotomy calculation, based on the original vector method, the position of the target vehicle can be judged to belong to a certain small subsection interval after the alternative road is dichotomy, then continuous iteration is carried out until the subsection interval is small enough, further the target vehicle can be matched to the small subsection interval in the alternative road, the distance from the target vehicle to the alternative road can be obtained by utilizing a vector dot product, and vehicle road matching initialization can be rapidly completed.
When the time sections in the road are matched aiming at the alternative road, the road is not simply divided into a plurality of sections to be matched one by one, but the dichotomy and the iteration method are used together, so that the matched fine time sections in the alternative road can be quickly searched aiming at the target vehicle, the distance from the target vehicle to the road can be accurately calculated, and the matching effect on the curve road is good.
since the candidate road information may include a plurality of candidate road information, the candidate section information corresponding to each candidate road information is determined, and thus the candidate section information may be obtained according to the candidate road information.
In practical application, the target section information corresponding to the target road information can be determined from the candidate section information through an optimal decision, so that the target vehicle is subjected to road matching based on the target section information.
In one example, as shown in fig. 3a, when the target vehicle is in the road network of the target map, the candidate road information may be determined as AB, AC, BD, and the candidate block distance information may be obtained according to the candidate block information, such as dAB、dAC、dBDAnd further, the following method can be adopted for optimal decision making:
dx＝min{dAB，dAC,dBD}
wherein d isxMay be the optimal decision result, i.e. the target interval information, which may be dAB、dAC、dBDThe value with the smallest value.
In an example, when global path planning is performed, a road matching event for a target vehicle may be triggered, candidate matching roads (i.e., candidate road information) may be decided by using vector cross product by obtaining a target vehicle position (i.e., current position information) and map information (i.e., a target map), then candidate road segments (i.e., candidate segment information) may be decided and matched by using a bisection method and an iteration method, a distance from the target vehicle to the candidate road segments (i.e., candidate segment distance information) may be calculated by using vector dot product, and then an optimal matching road (i.e., target road information) and an optimal matching road segment (i.e., target segment information) may be obtained from a plurality of candidate segment information.
In another example, the method can be applied to an outdoor navigation map and an indoor navigation map, only the navigation map has a road structure, and then the vehicle position and the road network node can be utilized to carry out matching by using a vector method, so that the map road where the matched vehicle is located can be quickly searched and matched according to the vehicle positioning result.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 6, a schematic structural diagram of a vehicle road matching device according to an embodiment of the present invention is shown, which may specifically include the following modules:
a candidate road information determining module 601, configured to determine candidate road information for a target vehicle according to a plurality of road node information in a target map when a road matching event for the target vehicle is detected;
a candidate section information determining module 602, configured to determine candidate section information corresponding to the candidate road information;
and a road matching module 603, configured to determine, according to the candidate section information, target section information corresponding to target road information, so as to perform road matching on the target vehicle based on the target section information.
In an embodiment of the present invention, the method further includes:
the current position information and target map acquisition module is used for acquiring the current position information of the target vehicle and a target map aiming at the current position information; wherein the target map includes a plurality of road node information;
the candidate road information determination module 601 includes:
and the candidate road information determining submodule is used for determining candidate road information aiming at the target vehicle from the target map according to the current position information and the road node information.
In an embodiment of the present invention, the candidate road information determination sub-module includes:
the judging unit is used for judging whether the target vehicle is in the road or not according to the current position information and the road node information;
a candidate road information determination unit configured to take road information that the target vehicle is in a road as the candidate road information.
In an embodiment of the present invention, the candidate road information includes a plurality of candidate road information, and the candidate block section information determining module 602 includes:
the candidate section information determining submodule is used for determining candidate section information corresponding to the candidate road information aiming at each candidate road information;
and the candidate section information obtaining submodule is used for obtaining candidate section information according to the candidate road information.
In an embodiment of the present invention, the candidate block section information includes a candidate matching block section and candidate block section distance information, and the candidate block section information determining sub-module includes:
a candidate matching block section determination unit configured to determine the candidate matching block section for each candidate road information;
and the candidate block interval distance information determining unit is used for taking the block interval distance information corresponding to the candidate matching block interval as the candidate block interval distance information.
In an embodiment of the present invention, the candidate matching section determining unit includes:
a plurality of intermediate point information determination subunits for determining, for each candidate road information, a plurality of intermediate point information in the candidate road information;
and the candidate matching interval determining subunit is used for determining the candidate matching interval according to the plurality of intermediate point information.
In an embodiment of the present invention, the road matching module 603 includes:
and the road matching sub-module is used for determining target section information corresponding to the target road information from the plurality of candidate section information so as to perform road matching on the target vehicle based on the target section information.
In the embodiment of the invention, the candidate road information for the target vehicle is determined according to a plurality of road node information in the target map when the road matching event for the target vehicle is detected, then candidate section information corresponding to the candidate road information is determined, and further target section information corresponding to the target road information is determined according to the candidate section information, the target vehicle is subjected to road matching based on the target interval information, the current road is quickly matched when the global path is planned, candidate road information is determined through a plurality of road node information, and then according to the candidate section information, the target section information corresponding to the target road information is determined, and the road in the map where the matched vehicle is located can be quickly searched and matched according to the vehicle positioning result, so that the operation workload and the searching time are reduced, and the initial matching speed of the global path planning is accelerated.
An embodiment of the present invention also provides a vehicle, which may include a processor, a memory, and a computer program stored on the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the method for vehicle road matching as above.
An embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the above method for vehicle road matching.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The method and the device for vehicle road matching are described in detail, and the principle and the implementation mode of the invention are explained by applying specific examples, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (13)
1. A method of vehicle road matching, the method comprising:
when a road matching event aiming at a target vehicle is detected, determining candidate road information aiming at the target vehicle according to a plurality of road node information in a target map;
determining candidate section information corresponding to the candidate road information;
and determining target interval information corresponding to the target road information according to the candidate interval information so as to perform road matching on the target vehicle based on the target interval information.
2. The method of claim 1, further comprising, prior to the determining candidate road information for the target vehicle from a plurality of road node information in a target map:
acquiring current position information of the target vehicle and a target map aiming at the current position information; wherein the target map includes a plurality of road node information;
the determining candidate road information for the target vehicle according to a plurality of road node information in a target map comprises:
and determining candidate road information for the target vehicle from the target map according to the current position information and the road node information.
3. The method of claim 2, wherein determining candidate road information for the target vehicle from the target map based on the current location information and the plurality of road node information comprises:
judging whether the target vehicle is in the road or not according to the current position information and the road node information;
and taking the road information of the target vehicle in the road as the candidate road information.
4. The method according to claim 1, 2 or 3, wherein the candidate road information includes a plurality of candidate road information, and the determining candidate section information corresponding to the candidate road information includes:
for each candidate road information, determining candidate section information corresponding to the candidate road information;
and obtaining a plurality of candidate section information according to the plurality of candidate road information.
5. The method as claimed in claim 4, wherein the candidate block section information includes candidate matching block sections and candidate block section distance information, and the determining candidate block section information corresponding to the candidate road information for each candidate road information includes:
determining the candidate matching interval section for each candidate road information;
and taking the interval distance information corresponding to the candidate matching interval as the candidate interval distance information.
6. The method of claim 5, wherein the determining the candidate matching block section for each candidate road information comprises:
determining a plurality of intermediate point information in the candidate road information aiming at each candidate road information;
and determining the candidate matching interval section according to the plurality of intermediate point information.
7. The method according to claim 4, wherein the determining target section information corresponding to target road information according to the candidate section information to perform road matching on the target vehicle based on the target section information comprises:
and determining target section information corresponding to the target road information from the candidate section information so as to perform road matching on the target vehicle based on the target section information.
8. An apparatus for vehicle road matching, the apparatus comprising:
the candidate road information determining module is used for determining candidate road information for a target vehicle according to a plurality of road node information in a target map when a road matching event for the target vehicle is detected;
the candidate section information determining module is used for determining candidate section information corresponding to the candidate road information;
and the road matching module is used for determining target interval section information corresponding to the target road information according to the candidate interval section information so as to perform road matching on the target vehicle based on the target interval section information.
9. The apparatus of claim 8, further comprising:
the current position information and target map acquisition module is used for acquiring the current position information of the target vehicle and a target map aiming at the current position information; wherein the target map includes a plurality of road node information;
the candidate road information determination module includes:
and the candidate road information determining submodule is used for determining candidate road information aiming at the target vehicle from the target map according to the current position information and the road node information.
10. The apparatus of claim 9, wherein the candidate road information determination sub-module comprises:
the judging unit is used for judging whether the target vehicle is in the road or not according to the current position information and the road node information;
a candidate road information determination unit configured to take road information that the target vehicle is in a road as the candidate road information.
11. The apparatus according to claim 8, 9 or 10, wherein the candidate road information includes a plurality, and the candidate block section information determining module includes:
the candidate section information determining submodule is used for determining candidate section information corresponding to the candidate road information aiming at each candidate road information;
and the candidate section information obtaining submodule is used for obtaining candidate section information according to the candidate road information.
12. A vehicle comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing a method of vehicle road matching as claimed in any one of claims 1 to 7.
13. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method of vehicle road matching according to any one of claims 1 to 7.
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| CN202110038789.XA CN112857376A (en) | 2021-01-12 | 2021-01-12 | Vehicle road matching method and device |
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| CN202110038789.XA CN112857376A (en) | 2021-01-12 | 2021-01-12 | Vehicle road matching method and device |
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