CN108253975A

CN108253975A - A kind of method and apparatus for establishing cartographic information and vehicle location

Info

Publication number: CN108253975A
Application number: CN201711497687.4A
Authority: CN
Inventors: 刘洋; 王子涵; 叶凌侠
Original assignee: Uisee Shanghai Automotive Technologies Ltd
Current assignee: Uisee Shanghai Automotive Technologies Ltd
Priority date: 2017-12-29
Filing date: 2017-12-29
Publication date: 2018-07-06
Anticipated expiration: 2037-12-29
Also published as: CN108253975B

Abstract

The purpose of the application is to provide a kind of method or equipment for establishing cartographic information and vehicle location；Obtain the line information of target road；Based on the line information, the reference point of the target road is determined；Determine the co-ordinate position information of the reference point；Co-ordinate position information based on the reference point establishes the co-ordinate position information of target object and the mapping relations of Orientation on map information.Compared with prior art, the application can be with cost and reduction data processing time that effectively save cartographic information creates, and then promotes the development and popularization of the vehicle drive technology, particularly automatic Pilot technology based on cartographic information application.

Description

A kind of method and apparatus for establishing cartographic information and vehicle location

Technical field

This application involves automatic Pilot field more particularly to a kind of technologies for establishing cartographic information and vehicle location.

Background technology

In existing vehicle travel process, particularly in automatic driving vehicle driving process, usually using accurately Figure realizes the positioning of the track rank of vehicle.At this point, the acquisition and foundation of high-precision map are needed by high-precision difference GPS, laser radar or camera are established so that each attribute objectives of road (traffic marking board, ring road mouth, curb, traffic lights Deng) position have the high-precision that reaches Centimeter Level；Automatic driving vehicle is also required to have the high-precision for possessing Centimeter Level simultaneously The GPS receiver mode (common mode for voluntarily build or the GPS Base Station using service provider) of positioning function.Such aly Figure creates and occupation mode usually requires high equipment cost and longer data processing time, causes vehicle to a certain extent Automatic Pilot technology is difficult to fast-developing and universal.In addition, the establishment and application of current high-precision map, primarily directed to road Road environment and the relatively simple clearly highway of objective attribute target attribute, because of (the intensive height in increasingly complex urban road environment Layer building and trees, narrow runway, at a distance of nearer more forks etc.), the popularization of the technology is still limited to both sides Reason：High-precision builds figure will be more time-consuming and laborious；High-precision GPS reception can not obtain effective guarantee.The acquisition of high-precision map To take more time with establishing and filter out non-rice habitats target property information with human cost, simultaneously for urban road frequently more Newly also need accordingly continually to update accurately chart database；And once vehicle-mounted high-precision GPS can not effectively receive data, Not only aforementioned map establishes achievement and fails to be used, and the behaviour control and decision of vehicle will also generate mistake.At the same time, Even on the relatively simple clearly highway of objective attribute target attribute, although carrying out, above-mentioned high-precision map is established and application method can Row, but it is and unreasonable effective.Since highway Ordinary Rd is clear in structure, regularization degree is higher, in most of situation Under do not need to vehicle obtain too many meaningless target information (such as：Electric pole, light pole etc.)；In addition, many road mesh Mark attribute can also be identified by visual manner or write direct in cartographic information (such as：Ring road mouth position, speed limit mark Will etc.)；Again, the control technology of many automatic driving vehicles is also not very fine at present, is unable to reach the movement control of Centimeter Level System.Carry out above-mentioned centimeter-level positioning, the motion planning of vehicle can not be allowed to obtain the benefit to match with its sky high cost.Cause This, lacks a kind of ground that can be applied to vehicle drive that is effective, inexpensive, being more easily implemented and promote in the prior art Figure creation method and vehicle positioning method.

Invention content

The purpose of the application is to provide a kind of method and apparatus for establishing cartographic information and vehicle location.

According to the one side of the application, a kind of method for establishing cartographic information is provided, including：

Obtain the line information of target road；

Based on the line information, the reference point of the target road is determined；

Determine the co-ordinate position information of the reference point；

Co-ordinate position information based on the reference point establishes the co-ordinate position information of target object and Orientation on map information Mapping relations.

According to further aspect of the application, a kind of equipment for establishing cartographic information is provided, including：

First acquisition device, for obtaining the line information of target road；

First determining device for being based on the line information, determines the reference point of the target road；

Second determining device, for determining the co-ordinate position information of the reference point；

Establish device, for the co-ordinate position information based on the reference point establish the co-ordinate position information of target object with The mapping relations of Orientation on map information.

According to the another aspect of the application, a kind of vehicle positioning method is provided, including：

Obtain the co-ordinate position information of target vehicle；

Determine the reference point with the matched target road of co-ordinate position information of the target vehicle；

Based on the reference point, with reference to described in determining the co-ordinate position information of vehicle and the mapping relations of Orientation on map information The Orientation on map information of target vehicle, wherein, the mapping relations of the co-ordinate position information and Orientation on map information of the vehicle are What the co-ordinate position information based on the reference point was established.

According to another aspect of the application, a kind of Vehicle Positioning Equipment is provided, including：

Second acquisition device, for obtaining the co-ordinate position information of target vehicle；

Third determining device, for determining the reference with the matched target road of co-ordinate position information of the target vehicle Point；

4th determining device, for being based on the reference point, with reference to co-ordinate position information and the Orientation on map information of vehicle Mapping relations determine the Orientation on map information of the target vehicle, wherein, co-ordinate position information and the map of the vehicle are determined The mapping relations of position information are what the co-ordinate position information based on the reference point was established.

According to the another aspect of the application, a kind of equipment for establishing cartographic information is additionally provided, including：

One or more processors；

Memory；And

One or more programs wherein one or more of programs are stored in the memory, and are configured It is performed by one or more of processors, described program is included for performing the following operations：

Obtain the line information of target road；

Determine the co-ordinate position information of the reference point；

According to the another aspect of the application, a kind of computer readable storage medium is additionally provided, is stored thereon with computer Program, the computer program can be executed by processor following operation：

Obtain the line information of target road；

Determine the co-ordinate position information of the reference point；

According to the another aspect of the application, a kind of Vehicle Positioning Equipment is additionally provided, including：

One or more processors；

Memory；And

Obtain the co-ordinate position information of target vehicle；

Compared with prior art, the line information of target road of the application based on acquisition, determines the target road Reference point, and then the co-ordinate position information and map of target object are established based on the co-ordinate position information of the determining reference point The mapping relations of location information, it is achieved thereby that the foundation of cartographic information.Here, the co-ordinate position information of the target object with The foundation of the mapping relations of Orientation on map information is not needed to dependent on high-precision difference GPS, laser radar or camera Information collection operation is realized, and the line information that can be based on known target road in existing conventional cartographic information is direct Structure, and cause structure the mapping relations can be applied to the target object, such as vehicle actual travel during with The effective position of vehicle is realized, as track grade positions.Therefore, the cost and subtract that the application can be created with effectively save cartographic information Few data processing time, and then the vehicle drive technology based on cartographic information application is promoted, particularly drive automatically Sail the development and popularization of technology.

Further, the application can also be realized in practical vehicle traveling, the coordinate based on the target vehicle got Location information determines the reference point with the matched target road of co-ordinate position information of the target vehicle, so as to based on described Reference point determines that the map of the target vehicle is determined with reference to the co-ordinate position information of vehicle and the mapping relations of Orientation on map information Position information, wherein, the co-ordinate position information of the vehicle and the mapping relations of Orientation on map information are based on the reference point What co-ordinate position information was established.Here, co-ordinate position information and Orientation on map information based on the target object built Mapping relations, the effective position of target vehicle can be realized, as track grade positions.Here, the target vehicle, such as drives automatically It sails vehicle and does not need to the GPS receiver mode of high-precision positioning function that configuration matches with high-precision map, but only need Common sensor is configured with, as the vehicle GPS receiver or mobile equipment, such as individual mobile phone end GPS of general precision connect Determining for Orientation on map information can be thus achieved in receiving apparatus.Therefore, the application can with the cost of effectively save vehicle location, into And promote by the cartographic information application based on vehicle drive technology, particularly automatic Pilot technology development with pushing away Extensively.

Further, the application is also based on the target positioning letter that the Orientation on map information determines the target vehicle Breath, so as to provide accurate input for the planning of the rear end of vehicle, such as automatic driving vehicle and control program.Such as based on the target The lane line relevant information of vehicle and the corresponding track quantity of the target vehicle, determine the corresponding track of the target vehicle. I.e. the application can by the mapping relations of the co-ordinate position information of the target object built and Orientation on map information, and With reference to the co-ordinate position information of real-time target vehicle and lane line relevant information, the track grade positioning of target vehicle is realized.And And the target vehicle, as automatic driving vehicle does not need to have the high-precision sensor to match with high-precision map (such as Laser radar with distance measurement function) and high-precision positioning function GPS receiver mode, but directly configuration can realize lane line The photographic device of type information identification and the vehicle GPS receiver of general precision, the GPS receiver of such as vehicle-mounted meter level can be real The existing targeting information determines.Therefore, compared to the lane location of the vehicle based on high-precision map, the application can be with While lane location is effectively realized, the cost of lane location is significantly reduced.

Description of the drawings

By reading the detailed description made to non-limiting example made with reference to the following drawings, the application's is other Feature, objects and advantages will become more apparent upon：

Fig. 1 shows a kind of method flow diagram for establishing cartographic information according to the application one side；

Fig. 2 shows a kind of flow charts of vehicle positioning method according to the application one side；

Fig. 3 shows a kind of exemplary plot for determining the corresponding track of the target vehicle according to the application one embodiment；

Fig. 4 shows a kind of schematic diagram of equipment for establishing cartographic information according to the application one side；

Fig. 5 shows a kind of schematic diagram of Vehicle Positioning Equipment according to the application one side；

Fig. 6 shows the exemplary system that can be used for implementing each embodiment described herein.

The same or similar reference numeral represents the same or similar component in attached drawing.

Specific embodiment

The application is described in further detail below in conjunction with the accompanying drawings.

In a typical configuration of this application, terminal, the equipment of service network and computing device include one or more Processor (CPU), input/output interface, network interface and memory.

Memory may include computer-readable medium in volatile memory, random access memory (RAM) and/or The forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable medium Example.

Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method Or technology come realize information store.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), moves State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, CD-ROM read-only memory (CD-ROM), Digital versatile disc (DVD) or other optical storages, magnetic tape cassette, magnetic tape disk storage or other magnetic storage apparatus or Any other non-transmission medium, available for storing the information that can be accessed by a computing device.It is defined according to herein, computer Readable medium does not include the data-signal and carrier wave of non-temporary computer readable media (transitory media), such as modulation.

The application meaning equipment includes but not limited to user equipment, the network equipment or user equipment and the network equipment passes through Network is integrated formed equipment.The user equipment, which includes but not limited to any one, to carry out human-computer interaction with user The mobile electronic product of (such as human-computer interaction is carried out by touch tablet), such as smart mobile phone, tablet computer etc., the mobile electricity Arbitrary operating system, such as android operating systems, iOS operating systems may be used in sub- product.Wherein, the network equipment Including it is a kind of can be according to the instruction for being previously set or storing, the automatic electronic equipment for carrying out numerical computations and information processing, Hardware includes but not limited to microprocessor, application-specific integrated circuit (ASIC), programmable logic device (PLD), field programmable gate Array (FPGA), digital signal processor (DSP), embedded device etc..The network equipment includes but not limited to computer, net The cloud that network host, single network server, multiple network server collection or multiple servers are formed；Here, cloud is by being based on cloud meter The a large amount of computers or network server for calculating (Cloud Computing) are formed, wherein, cloud computing is the one of Distributed Calculation Kind, a virtual supercomputer being made of the computer collection of a group loose couplings.The network includes but not limited to interconnect Net, wide area network, Metropolitan Area Network (MAN), LAN, VPN network, wireless self-organization network (Ad Hoc networks) etc..

This application provides a kind of methods for establishing cartographic information.Fig. 1 shows to be built according to one kind of the application one side The method flow diagram of vertical cartographic information.Wherein, the method includes the steps S101, step S102, step S103 and step S104. In a kind of realization method of the application, the method performs in a kind of equipment 1 for establishing cartographic information.

Wherein, in step S101, the line information of target road is obtained；Then, in step s 102, based on the line Road information determines the reference point of the target road；Then, in step s 103, the coordinate bit confidence of the reference point is determined Breath；Then, in step S104, the co-ordinate position information based on the reference point establish the co-ordinate position information of target object with The mapping relations of Orientation on map information.

Specifically, in step S101, the line information of target road is obtained.Here, it needs to be based on establishing cartographic information Object, i.e. target road, obtain the line information of target road.In one implementation, the target road can wrap It includes but is not limited to road environment and the relatively simple clearly road, such as highway of objective attribute target attribute, closed, semi-enclosed space Interior road etc..In one implementation, the line information can include but is not limited to the trend of target road；Target track The co-ordinate position information of other each positions, such as GPS coordinate information in road starting point and target road；Other roads of target road Road condition information, such as ring road, bend, the gradient, track quantity information.

In this application, it needs first to collect the line information of the target road, and then the target road is carried out Subsequent cartographic information generates work, including subsequently determining the reference point of target road, determining the reference point coordinate bit confidence Cease, establish the co-ordinate position information of target object and the mapping relations of Orientation on map information etc..

In one implementation, the target road can be run in advance by vehicle to obtain corresponding circuit Information.In another implementation, the line information of target road can also be obtained from third party's information providing apparatus. This, third party's information providing apparatus can include but is not limited to provide the website of GPS coordinate information, common navigation maps, The corresponding network equipment of high-precision map.Further, in one implementation, the line information of the target road can be What the equipment 1 was obtained from third party's information providing apparatus in advance, and then target road is submitted to the equipment 1 based on user Selection information, directly read in slave device 1；In another implementation, user is also based on to submit to the equipment 1 The selection information of target road, then it is corresponding to the request of third party's information providing apparatus based on the selection information from the equipment 1 The line information of target road；In another implementation, it can also be and directly set based on user to the offer of third party's information The standby selection information for submitting target road, then by third party's information providing apparatus be provided to the line information of target road described Equipment 1.

Here, in one implementation, information can be selected to be provided from third party's information based on the target road of user Segmentation obtains the corresponding line information of target road in equipment, for example, a target road can be divided into continuous multiple roads Section, the feature based on different sections of highway capture corresponding line information respectively.Further, in one implementation, in step In S101, information can be selected to be segmented from third party's information providing apparatus based on the target road of user and obtain target road pair The line information answered, and wherein described target road selects the corresponding target road of information to be segmented the every of acquisition for cyclic annular circuit The corresponding section of line information described in item is non-annularity circuit.In practical applications, in order to avoid the complexity pair of cyclic annular circuit Cyclic annular circuit can be segmented into multiple non-annularity circuits, and for each section pair by the influence that subsequent mapping relations are established The non-annularity circuit answered carries out the foundation of corresponding cartographic information.In one implementation, along the non-annularity line alignment On each position co-ordinate position information, such as latitude and longitude coordinates information can be allowed to be expressed as many-to-one functional relation or Person's monotonic functional relationship.

Then, in step s 102, based on the line information, the reference point of the target road is determined.In a kind of reality In existing mode, the reference point can include that driving for the vehicle travelled in the target road may be influenced in the target road Sail the position with coordinate attributes, such as GPS coordinate attribute of track.In one implementation, the reference point can include Any one of below at least：Number of track-lines amount change point；Upper ring road mouth location point；Lower ring road mouth location point；Bend starting point；Bend is whole Stop；Ramp starting point；Ramp terminating point；Road starting point；Road terminating point；Speed limit changes point；Gas station's coordinate points, charging Station coordinates point, charge station's coordinate points.Here, those skilled in the art are it should be appreciated that above-mentioned each reference point is only for example, If other reference points existing or occur from now on can be suitable for the application, it should also be included in the protection domain of the application It is interior, and be incorporated herein in the form of reference.Here, the line information can be based on, for example, the road in each section of target road Road condition information, such as ring road, bend, the gradient, track quantity, being filtered out in each position from target road may influence The position of the driving locus of the vehicle travelled in the target road is as a reference point.In one implementation, it can be based on real The needs of border application scenarios, flexibly set screening conditions, to determine to meet the reference point for establishing map needs.

Then, in step s 103, the co-ordinate position information of the reference point is determined.Here, the co-ordinate position information It can include but is not limited to GPS coordinate information.In one implementation, the line information for obtaining target road includes The co-ordinate position information of the reference point is obtained, such as selection target road can be clicked directly on GPS coordinate information website Upper each position, the co-ordinate position information including reference point.And then when the reference point determines, then the reference point is corresponding Co-ordinate position information also mutually should determine that.In another implementation, it can also be the reference point for first determining the target road, And then the co-ordinate position information of selected reference point is further got, such as can be from third party's information providing apparatus In, the co-ordinate position information as described in by acquisition in GPS network station can also be calculated or be relied under existing road information Other modes obtain the co-ordinate position information.

Then, in step S104, the co-ordinate position information based on the reference point establishes the coordinate position of target object The mapping relations of information and Orientation on map information.In one implementation, the target object includes vehicle, and then, in institute It states in step S104, the co-ordinate position information and Orientation on map of vehicle can be established based on the co-ordinate position information of the reference point The mapping relations of information.In one implementation, the vehicle can include but is not limited to complete mankind's driving mode, auxiliary Help driving mode, part automatic driving mode, automatic driving mode of having ready conditions, highly automated driving mode or fully automated driving The vehicle of the arbitrary patterns such as pattern traveling.Subsequently, can the cartographic information based on structure, such as the vehicle co-ordinate position information With the mapping relations of Orientation on map information, the Orientation on map information for vehicle drive is determined.

In one implementation, the coordinate bit of target object can be built based on the co-ordinate position information of the reference point Confidence ceases the mapping relations with Orientation on map information.It in one implementation, can be according to the coordinate position of the reference point Information builds corresponding look-up table functional relation or calculates function expression.In one implementation, wherein, describedly Figure location information includes following at least any one：Target object is to the distance of reference point, and whether target object is in target road Flag bit；The corresponding track quantity of target object.The target object is for vehicle, in one implementation, can be with The co-ordinate position information of co-ordinate position information structure vehicle and the mapping of vehicle to the distance of reference point based on the reference point Relationship, for example, can be direct for the co-ordinate position information of vehicle and the foundation of the mapping relations of the distance of vehicle to reference point It is built under spherical coordinate system using latitude and longitude coordinates and calculates function expression.This method calculating is relative complex, but order of accuarcy It is higher；It can preferably realize that the distance of long range point-to-point transmission calculates.Vehicle can be calculated to selected reference point according to formula 1 Between distance, wherein：R represents earth radius, φ₁And θ₁Represent the longitude and latitude of vehicle, φ₂And θ₂Selected by representing The longitude and latitude of reference point.In the case that the reference point longitude and latitude it has been determined that and known to the longitude and latitude of the vehicle, The mapping relations can be based on, i.e., following calculating function expressions determine vehicle to the distance between selected reference point.Institute State reference point and can be based on practical application it needs to be determined that, such as can be road terminating point, next ring road mouth location point etc..

For another example, for the co-ordinate position information of vehicle and vehicle whether the mapping relations in target road flag bit can be with By establish judge vehicle co-ordinate position information whether the corresponding each position of target road co-ordinate position information model Interior functional relation is enclosed to realize, if for example, based on road starting point, road terminating point or other references in target road The GPS coordinate information of point, judges that the GPS coordinate information of vehicle is located in the spatial dimension of target road, then output coordinate position The function result that information is in target road or co-ordinate position information is not in target road, for example, if vehicle is in target track On the road, then the flag bit is 1, otherwise is 0.

For another example, can be for the foundation of the mapping relations of the co-ordinate position information of vehicle track quantity corresponding with vehicle It is Mercator coordinate by the GPS location coordinate transformation of reference point, then establishes track quantity about reference according to Mercator coordinate The look-up table functional relation of point coordinates location information.Mercator coordinate and the transformational relation of latitude and longitude coordinates can be such as formulas 2 and formula 3 It is shown.Wherein, Longi represents the longitude, and Lati represents the latitude, and X and Y represent the horizontal seat under Mercator coordinate system respectively Mark and ordinate, R represent earth radius.

X=Longi*R* π/180 --- --- --- --- formula 2

Y=R*ln (tan (45+Lati/2)) --- --- --- --- formula 3

Here, in one implementation, if the Orientation on map information includes the corresponding track quantity of target object, In step S104, the corresponding track quantity of co-ordinate position information and the reference point based on the reference point establishes target pair The mapping relations of the co-ordinate position information of elephant track quantity corresponding with target object.Here, it can acquire in advance and determine institute The corresponding track quantity of co-ordinate position information of reference point is stated, and then, pass through the co-ordinate position information and reference point of target object Co-ordinate position information location matches, it is that the target object exists to determine the corresponding track quantity of the matched reference point The corresponding track quantity of its co-ordinate position information.

Here, those skilled in the art are it should be appreciated that the above-mentioned co-ordinate position information and map for establishing target object The mode of the mapping relations of location information is only for example, it is existing or occur from now on other establish the coordinate bit confidence of target object If breath and the mode of the mapping relations of Orientation on map information can be suitable for the application, it should also be included in the protection of the application In the range of, and be incorporated herein in the form of reference.

Here, the line information of target road of the application based on acquisition, the reference point of the target road is determined, and then The co-ordinate position information of target object and Orientation on map information are established based on the co-ordinate position information of the determining reference point Mapping relations, it is achieved thereby that the foundation of cartographic information.Here, the co-ordinate position information of the target object is believed with Orientation on map The foundation of the mapping relations of breath does not need to grasp dependent on the information collection of high-precision difference GPS, laser radar or camera It realizes, and can be based on the line information direct construction of known target road in existing conventional cartographic information, and make The mapping relations that must be built can be applied to the target object, as during the actual travel of vehicle to realize vehicle Effective position, as track grade positions.Therefore, the application can be with the cost that effectively save cartographic information creates and reduction data processing Time, and then promote the hair of the vehicle drive technology, particularly automatic Pilot technology based on cartographic information application Exhibition and popularization.

Present invention also provides a kind of vehicle positioning methods.Fig. 2 shows a kind of vehicles according to the application one side to determine The flow chart of position method.Wherein, the method includes the steps S201, step S202 and step S203.In a kind of reality of the application In existing mode, the method performs on a kind of Vehicle Positioning Equipment 2.In one implementation, the Vehicle Positioning Equipment 2 Can include the network equipment including mobile unit or including vehicle in itself.

Wherein, in step s 201, the co-ordinate position information of target vehicle is obtained；Then, in step S202, determine with The reference point of the matched target road of co-ordinate position information of the target vehicle；Then, in step S203, based on the ginseng Examination point determines the Orientation on map of the target vehicle with reference to the co-ordinate position information of vehicle and the mapping relations of Orientation on map information Information, wherein, the co-ordinate position information of the vehicle and the mapping relations of Orientation on map information are the seats based on the reference point What cursor position information was established.

Specifically, in step s 201, the co-ordinate position information of target vehicle is obtained.It in one implementation, can be with By the corresponding co-ordinate position information harvester of target vehicle, such as the GPS position information of the real-time collection vehicle of GPS receiver, Here, the GPS receiver can include the equipment of high precision apparatus or general precision, such as the GPS receiver of meter level.

Then, in step S202, the ginseng with the matched target road of co-ordinate position information of the target vehicle is determined Examination point.In one implementation, the co-ordinate position information can be based on, determines the corresponding target track of the target vehicle Road；And then determine the matched reference point of co-ordinate position information in target road with the target vehicle.For example, based on getting Target vehicle GPS coordinate information, determine the target vehicle in which target road, here, can search out with One or more co-ordinate position informations that the GPS coordinate information of the target vehicle matches in spatial dimension, and this Or the corresponding road of multiple co-ordinate position informations, the target road that as described target vehicle is currently located.For example, the target The GPS coordinate information of vehicle is in the area that road starting point, the co-ordinate position information of road terminating point of the target road are formed Between in the range of, then judge the target vehicle in the target road.Then, it is the corresponding reference of target vehicle matching Point, in one implementation, can using selected section in the reference point of pre-set target road or all as with it is described The matched reference point of target vehicle；Further, in practical applications, it can be based on needing to carry out matched with the target vehicle The selection of reference point, such as reference point of the road terminating point as target vehicle of selection target road, for another example select next Reference point of the ring road mouth location point as target vehicle.

Then, in step S203, based on the reference point, with reference to co-ordinate position information and the Orientation on map information of vehicle Mapping relations determine the Orientation on map information of the target vehicle, wherein, co-ordinate position information and the map of the vehicle are determined The mapping relations of position information are what the co-ordinate position information based on the reference point was established.

Here, the co-ordinate position information of the vehicle and the mapping relations of Orientation on map information can be based on the reference What the co-ordinate position information of point was established.In one implementation, the mapping relations can include corresponding lookup table function Relationship calculates function expression.In one implementation, the Orientation on map information includes following at least any one：Vehicle Arrive reference point distance；Whether vehicle is in target road flag bit；The corresponding track quantity of vehicle.Here, based on described The co-ordinate position information and target vehicle present co-ordinate position information of reference point can be closed according to the established mapping System, such as look-up table functional relation or calculating function expression carry out calculating or target of the target vehicle to the distance of reference point Whether vehicle is in the determining or corresponding track determination of amount of target vehicle of target road flag bit.For example, for target The corresponding track determination of amount of vehicle, the track quantity look-up table functional relation based on structure input vehicle current GPS coordinate Information, output are that target vehicle is presently in track total quantity.For another example, it for the distance of target vehicle to reference point, such as arrives The distance of lower ring road mouth etc. can then be counted based on the calculating function expression of distance between two points under pre-set spherical coordinate system It calculates and determines.

Here, the application can also be realized in practical vehicle traveling, the coordinate bit based on the target vehicle got Confidence ceases, and determines the reference point with the matched target road of co-ordinate position information of the target vehicle, so as to based on the ginseng Examination point determines the Orientation on map of the target vehicle with reference to the co-ordinate position information of vehicle and the mapping relations of Orientation on map information Information, wherein, the co-ordinate position information of the vehicle and the mapping relations of Orientation on map information are the seats based on the reference point What cursor position information was established.Here, co-ordinate position information and Orientation on map information based on the target object built Mapping relations can realize the effective position of target vehicle, as track grade positions.Here, the target vehicle, such as automatic Pilot Vehicle does not need to the GPS receiver mode of high-precision positioning function that configuration matches with high-precision map, but only needs to match Common sensor is equipped with, such as the vehicle GPS receiver of general precision or mobile equipment, such as personal mobile phone end GPS receiver Determining for Orientation on map information can be thus achieved in device.Therefore, the application can with the cost of effectively save vehicle location, and then Promote the development and popularization of the vehicle drive technology, particularly automatic Pilot technology based on cartographic information application.

In one implementation, the method further includes step S204 (not shown), in step S204, based on described Orientation on map information determines the targeting information of the target vehicle.In one implementation, the mesh of the target vehicle Mark location information can include but is not limited to following at least any one：Target vehicle is to the distance of reference point；Target vehicle corresponds to Track quantity；The corresponding track of target vehicle.In one implementation, if based on the reference point, with reference to the seat of vehicle The mapping relations of cursor position information and Orientation on map information determine the Orientation on map information of the target vehicle, the Orientation on map Information includes the distance of vehicle to reference point, the corresponding track quantity of vehicle etc., can determine in map location information at this time It is one or more to be exported as the targeting information into row information.In another implementation, it can also have determined that The Orientation on map information on the basis of further determine that the targeting information for finally needing to export, if for example, describedly Figure location information includes the corresponding track quantity of vehicle, then further carries out lane location to target vehicle, determine the target The corresponding track quantity of vehicle.At this point, the targeting information, i.e., including the corresponding track quantity of the target vehicle, into One step, the targeting information can also include the corresponding track quantity of target vehicle, the distance of target vehicle to reference point, Items or multinomial combination in the corresponding track quantity of target vehicle.

Further, in one implementation, the method further includes step S205 (not shown), in step S205, The driving information of the target vehicle is determined based on the targeting information.In one implementation, doing driving information can To include but not limited to the route planning information of target vehicle, control strategy information etc..Here, the target of the target vehicle is determined Position information, for example, the corresponding track quantity of target vehicle, the distance of target vehicle to reference point, the corresponding track of target vehicle Quantity can be as the driving function of succeeding target vehicle, particularly the path planning of Function for Automatic Pilot and control strategy module Part input information.For example, based on targeting information, it may be determined which track target vehicle is currently located at, under Distance of one ring road mouth etc., so as to be effectively vehicle path planning and vehicle is controlled to travel.

In one implementation, it is described based on the reference point, with reference to the co-ordinate position information and Orientation on map of vehicle The mapping relations of information determine that the Orientation on map information of the target vehicle includes the co-ordinate position information based on the reference point With the co-ordinate position information of the target vehicle, with reference to vehicle co-ordinate position information and vehicle to the distance of reference point mapping Relationship determines the target vehicle to the first distance of reference point.In one implementation, pre-set ball can be based on The calculating function expression of distance between two points calculates first distance under coordinate system, for example, can calculate the mesh according to formula 1 Vehicle is marked to the first distance of reference point, wherein：The co-ordinate position information of the target vehicle is latitude and longitude information φ₁And θ₁, institute The co-ordinate position information for stating reference point is latitude and longitude information φ₂And θ₂, R represents earth radius.

Further, in one implementation, if first distance is less than distance threshold, based on the target vehicle Co-ordinate position information with reference to the vehicle traveling information of the target vehicle, determines the of the target vehicle and the reference point Two distances.In practical applications, it is contemplated that the error of GPS receiver, when the first distance of the selected reference point of distance is less than preset Distance threshold, when being, for example, less than 1 kilometer, can the vehicle traveling information based on the target vehicle, such as the corresponding vehicle of vehicle The collected vehicle traveling information of fast sensor, yaw-rate sensor estimates vehicle operation and determines the mesh Vehicle and the second distance of the reference point are marked, in one implementation, described first can be substituted with the second distance Targeting information of the distance as the target vehicle.Here, the citing that the second distance calculates is：

D=1-alpha* (v_host_speed*delta_t)-beta* (d_GPS)

Wherein：Alpha+beta=1

Here, the d represents the target vehicle and the second distance (unit of the reference point：Km), it is described apart from threshold It is worth and represents the traveling distance of target vehicle for 1km, the v_host_speed*delta_t, the d_GPS represents target vehicle To the first distance (calculated and obtained by GPS coordinate) of reference point；Alpha, beta are respectively the traveling distance and mesh of target vehicle Vehicle is marked to the weight of the first distance of reference point, in one implementation, the alpha can get more than 0.8.

In one implementation, it is described based on the reference point, with reference to the co-ordinate position information and Orientation on map of vehicle The mapping relations of information determine that the Orientation on map information of the target vehicle is included based on the reference point, with reference to the coordinate of vehicle The mapping relations of location information track quantity corresponding with vehicle determine the corresponding track quantity of the target vehicle.In one kind It, can be true about the look-up table functional relation of reference point co-ordinate position information based on the track quantity pre-established in realization method Determine the corresponding track quantity of the target vehicle, for example, based on the look-up table functional relation, input vehicle current GPS coordinate Information, output are that target vehicle is presently in track total quantity.Here, first determine the co-ordinate position information and ginseng of target object The location matches relationship of the co-ordinate position information of examination point, and then determine that the corresponding track quantity of the matched reference point is institute Target object is stated in the corresponding track quantity of its co-ordinate position information.

It, can the track based on the target vehicle in the step S204 in the realization method of the application Line relevant information and the corresponding track quantity of the target vehicle, determine the corresponding track of the target vehicle.In a kind of realization In mode, the lane line relevant information can include but is not limited to the left and right lane mark type of the target vehicle, left and right vehicle Diatom confidence level etc., wherein, the lane mark type can include the lane lines type informations such as dotted line, solid line, two-wire, in one kind In realization method, the lane line relevant information, as lane mark type can be based on different geographical, national communication rule it is different and There is the otherness of content.In one implementation, the lane line relevant information, if lane mark type can also be based on The needs of vehicle running environment are customized.In one implementation, the method further includes step S206 (not shown), In step S206, the corresponding lane line relevant information of the target vehicle can be acquired.For example, by that can realize lane line class The photographic device of type information acquires the corresponding lane line relevant information of the target vehicle in real time.Here, the collected vehicle The co-ordinate position information matching corresponding with the target vehicle of diatom relevant information, in one implementation, the lane line Consistency of the acquisition of relevant information with the acquisition of the co-ordinate position information of the target vehicle with the time and spatially.

In one implementation, the method further includes step S207 (not shown), in step S207, it can be determined that Whether the corresponding track quantity of the target vehicle is less than or equal to preset track amount threshold；Then, in step S204, If the corresponding track quantity of the target vehicle is less than or equal to preset track amount threshold, corresponded to based on the target vehicle Lane line relevant information and the corresponding track quantity of the target vehicle, determine the corresponding track of the target vehicle. This, if the corresponding track quantity of the target vehicle is more than preset track amount threshold and can then select without target carriage Lane location；If the corresponding track quantity of the target vehicle is less than or equal to preset track amount threshold, based on institute The corresponding lane line relevant information of target vehicle and the corresponding track quantity of the target vehicle are stated, determines the target vehicle Corresponding track.In one implementation, the track amount threshold, which can be based on practical application, needs flexibly setting.One In kind realization method, the corresponding lane location method of different track quantity usually determines the corresponding track of the target vehicle Method also differ.

Further, in one implementation, in step S204, the corresponding lane line of the target vehicle can be based on Relevant information and the corresponding track quantity of the target vehicle, multiple candidate lanes corresponding to the target vehicle carry out first Marking calculates；Then, the result that can be calculated based on the described first marking determines the target in the multiple candidate lane The corresponding track of vehicle.Here, the corresponding track quantity of known target vehicle present position, and then based on the lane line Relevant information, such as left and right lane mark type, based on corresponding marking rule, multiple candidate vehicles corresponding to the target vehicle Road carries out the first marking and calculates.Fig. 3 shows to determine the corresponding vehicle of the target vehicle according to one kind of the application one embodiment The exemplary plot in road is illustrated so that lane line sum N is equal to 4 as an example, and rightmost side track is referred to as first track, leftmost side vehicle Dow Jones index is on behalf of the 4th track, under normal circumstances, when lane line sum is 4, solid line or two-wire type lane line appear in second, Between three lanes or first lane the right or the Four-Lane Road left side, first to fourth track are the target vehicle Corresponding candidate lane.It is as follows that multiple candidate lanes corresponding to the target vehicle carry out the step of the first marking calculates： In step 301, lane line total number information is obtained；In step 302, lane line type information is obtained, target letter can also be obtained Breath, i.e. obstacle information；In step 303, judge currently the left-hand lane line type that detects whether be two-wire or Solid line type；If so, judging whether the two-wire type is right side side track in step 304；If so, within step 306 Bonus point is not performed to all tracks；If step 304 is judged as NO, the 4th track and second vehicle are given in step 307 Road assignment 1 is divided；If step 303 is judged as NO, 305 are entered step；Judge right-hand lane line with the presence or absence of double in step 305 Line or solid line type.If so, entering step 308, bonus point is not performed to all tracks；If it is not, it then gives in a step 309 Third root track and first track assignment 1 are divided.It is calculated based on the above-mentioned first marking, it may be determined that each candidate lane adds up Assignment, and then the corresponding track of the target vehicle can be determined in the multiple candidate lane based on the accumulative assignment.

Further, in one implementation, the result calculated based on the described first marking is in the multiple candidate It is any one of following to determine that the corresponding track of the target vehicle includes in track：It is if true based on the result that the described first marking calculates There are one fixed or the score of multiple candidate lanes is more than preset score threshold, and it is the mesh to determine the highest candidate lane of score Mark the corresponding track of vehicle；There are one if the result calculated based on the described first marking is determined or the score of multiple candidate lanes is big In preset score threshold, and the highest candidate lane of score at least there are two, then re-start the first marking calculating；If it is based on The result that first marking calculates determines that the score of no candidate lane is more than preset score threshold, then re-starts first Marking calculates.Here, the score threshold, which can be based on practical application, needs flexibly setting.

In the realization method of the application, in the step S204, it is corresponding the target vehicle can be based on Lane line relevant information, the corresponding obstacle information of the target vehicle and the corresponding track quantity of the target vehicle determine The corresponding track of the target vehicle.Here, the lane location of the application can also be corresponded to further combined with the target vehicle Obstacle information, to improve the accuracy of lane location.The obstacle information can be real by the photographic device of vehicle When it is collected.In one implementation, the corresponding lane line relevant information of the target vehicle and the mesh can be based on The corresponding track quantity of vehicle is marked, multiple candidate lanes corresponding to the target vehicle carry out the second marking and calculate；Based on institute The corresponding obstacle information of target vehicle and the corresponding track quantity of the target vehicle are stated, it is corresponding to the target vehicle more A candidate lane carries out third marking and calculates；Then, the result calculated with third marking is calculated based on the described second marking The corresponding track of the target vehicle is determined in the multiple candidate lane.

Here, the mode that second marking calculates can refer to the mode that the above-mentioned first marking calculates, it is no longer superfluous herein It states.It is calculated based on the described second marking, can be that each candidate lane carries out corresponding assignment.Here, with reference to figure 3, it is described to institute Stating the step of corresponding multiple candidate lanes of target vehicle carry out third marking calculating can include：In step 31O, confirm Whether left side perceives barrier；If so, divide in step 311 for first, second and third lane line assignment 1；If it is not, then exist In step 312 bonus point is not performed to all tracks；In step 313, judge whether right side perceives barrier；If so, In a step 314 to second and third, four track assignment 1 divide；If it is not, then in step 315, all tracks are not performed and are added Point.It is given a mark and calculated based on the third, or each candidate lane carries out assignment.Then, based on the described second marking meter Calculate with the result that third marking calculates the corresponding track of the determining target vehicle in the multiple candidate lane.Example Such as, add up to calculate the respective assignment for calculating each candidate lane with third marking by the described second marking, it is tired based on this It counts assignment and the corresponding track of the target vehicle is determined in the multiple candidate lane.Such as in Fig. 3, in step big 316, The score for judging whether there is track is more than preset score threshold, i.e. threshold value；If otherwise return to step 301 re-starts marking It calculates, such as re-starts the second marking calculating, third marking calculating；If then entering step 317, the track of best result is judged It is whether unique；If step 317 judging result is no, return to step 301 re-starts marking and calculates；If step 317 judges knot Fruit is yes, then exports the result of vehicle lane location in step 318.

In one implementation, second marking calculates the sequencing calculated with third marking and can not limit It is fixed.For example, it may be it is carried out at the same time or is carried out successively based on certain sequencing.

In one implementation, if the track quantity N is more than 4, institute can be determined in the lane location method of reference chart 3 The corresponding track in target track is stated, i.e., with the two-wire type of lane line or solid line type, is located at road to distinguish target vehicle Left area or right area；Later lane location is further carried out in conjunction with carriageway type and obstacle information.In reality In the application of border, if the track negligible amounts, such as track sum are less than or equal to 3, only selection it can also be based on the target The corresponding lane line relevant information of vehicle and the corresponding track quantity of the target vehicle, determine the corresponding vehicle of the target vehicle Road.

In one implementation, the method further includes step S208 (not shown), in step S208, if the mesh It marks vehicle to be in following at least any one state, then keeps the corresponding track of the fixed target vehicle constant：It is described Target vehicle is in during lane change；The corresponding lane line relevant information of the target vehicle current location information can not determine. It can not be determined here, the application can be directed to lane-change situation or lane line relevant information in target vehicle driving process, such as vehicle The certain amendment of the carry out such as situation that diatom type can not determine.If for example, detect the target vehicle just in lane change or It is due to being blocked by roadside tree shade, lane line obscures, and keeps the corresponding track of the fixed target vehicle constant, e.g., really The corresponding track of target vehicle is continued as the target vehicle described determined by the nearest moment of state described in set a distance Lane location in state.

Further, in one implementation, the method further includes step S209 (not shown), in step S209, If the target vehicle meets following at least any one condition, the corresponding track of the target vehicle is redefined：Based on The determining corresponding track of the target vehicle judges that abnormal feelings occurs in the lane location for monitoring presently described target vehicle Condition；Or presently described target vehicle is not in the target road where the corresponding track of the fixed target vehicle.One In kind realization method, if the lane line relevant information in target track can not determine to be more than certain waiting time limit, it can be based on The corresponding track of the fixed target vehicle, judges whether the lane location of presently described target vehicle abnormal feelings occurs Condition, such as：If it is determined that vehicle is in most right lane, but right-hand lane line type is dotted line, then such contradiction will be by It is considered as latent fault, then re-starts the lane location of the target vehicle.In another implementation or presently described mesh Vehicle is marked not in the target road where the corresponding track of the fixed target vehicle, i.e., described target vehicle has left Original target road can also then re-start the lane location of the target vehicle.It, can based on above-mentioned real time monitoring To improve the accuracy positioned to the target vehicle.

In one implementation, the method further includes step S210 (not shown), in step S210, obtains target The lane change information of vehicle；Based on the fixed corresponding track of target vehicle and the lane change information, institute after lane change is determined State the corresponding track of target vehicle.For example, have been determined the target track be located at second lane (track quantity be N, from the right side to A left side, track ordinal number is by small increase), get the lane change information of current goal vehicle, such as target vehicle lane change to the right, then lane change Track ordinal number directly subtracts 1 after the completion；Vice versa.In one implementation, the new coordinate position of target vehicle can be obtained Information, wherein, the target vehicle is operated from the co-ordinate position information by lane change and is moved to the new co-ordinate position information； Then, based on the co-ordinate position information, the new co-ordinate position information, and with reference to institute corresponding with the co-ordinate position information The corresponding track of target vehicle is stated, determines the corresponding track of corresponding with the new co-ordinate position information target vehicle. This, if there are the lane location operation of history, then it can be in the corresponding of fixed target vehicle after follow-up lane change maneuver Simple information update is carried out on the basis of track, you can to realize the repositioning of target vehicle.

Here, the application is also based on the targeting information that the Orientation on map information determines the target vehicle, So as to provide accurate input for the planning of the rear end of vehicle, such as automatic driving vehicle and control program.Such as based on the target carriage The corresponding track quantity of lane line relevant information and the target vehicle, determine the corresponding track of the target vehicle.I.e. The application can be by the mapping relations of the co-ordinate position information and Orientation on map information of the target object built, and tie The co-ordinate position information of real-time target vehicle and lane line relevant information are closed, realizes the track grade positioning of target vehicle.And The target vehicle, as automatic driving vehicle does not need to have the high-precision sensor to match with high-precision map (such as band The laser radar of distance measurement function) and high-precision positioning function GPS receiver mode, but directly configuration can realize lane line class The photographic device of type information identification and the vehicle GPS receiver of general precision, the GPS receiver of such as vehicle-mounted meter level can be thus achieved The targeting information determines.Therefore, compared to the lane location of the vehicle based on high-precision map, the application can be While effectively realizing lane location, the cost of lane location is significantly reduced.

Present invention also provides a kind of equipment for establishing cartographic information.Fig. 4 shows one kind according to the application one side Establish the schematic diagram of the equipment 1 of cartographic information.Wherein, the equipment 1 includes the first acquisition device 401, the first determining device 402nd, the second determining device 403 and device 404 is established.

Wherein, the first acquisition device 401 can obtain the line information of target road；First determining device 402 is based on institute Line information is stated, determines the reference point of the target road；Second determining device 403 determines the coordinate bit confidence of the reference point Breath；Establish that co-ordinate position information of the device 404 based on the reference point establishes the co-ordinate position information of target object and map is determined The mapping relations of position information.

Specifically, the first acquisition device 401 obtains the line information of target road.Here, it needs to be based on establishing map letter The object of breath, i.e. target road obtain the line information of target road.In one implementation, the target road can be with The including but not limited to relatively simple clearly road, such as highway of road environment and objective attribute target attribute, closed, semi-enclosed sky Interior road etc..In one implementation, the line information can include but is not limited to the trend of target road；Target The co-ordinate position information of other each positions, such as GPS coordinate information in road starting point and target road；Target road other Road condition information, such as ring road, bend, the gradient, track quantity information.

Here, in one implementation, information can be selected to be provided from third party's information based on the target road of user Segmentation obtains the corresponding line information of target road in equipment, for example, a target road can be divided into continuous multiple roads Section, the feature based on different sections of highway capture corresponding line information respectively.Further, in one implementation, it first obtains Device 401 can select information to be segmented from third party's information providing apparatus and obtain target road pair based on the target road of user The line information answered, and wherein described target road selects the corresponding target road of information to be segmented the every of acquisition for cyclic annular circuit The corresponding section of line information described in item is non-annularity circuit.In practical applications, in order to avoid the complexity pair of cyclic annular circuit Cyclic annular circuit can be segmented into multiple non-annularity circuits, and for each section pair by the influence that subsequent mapping relations are established The non-annularity circuit answered carries out the foundation of corresponding cartographic information.In one implementation, along the non-annularity line alignment On each position co-ordinate position information, such as latitude and longitude coordinates information can be allowed to be expressed as many-to-one functional relation or Person's monotonic functional relationship.

Here, the first determining device 402 can be based on the line information, the reference point of the target road is determined. In a kind of realization method, the reference point can include that the vehicle travelled in the target road may be influenced in the target road Driving locus have coordinate attributes, such as GPS coordinate attribute position.In one implementation, the reference point can To include following at least any one：Number of track-lines amount change point；Upper ring road mouth location point；Lower ring road mouth location point；Bend starting point； Bend terminating point；Ramp starting point；Ramp terminating point；Road starting point；Road terminating point；Speed limit changes point；Oiling station coordinates Point, charging station coordinate points, charge station's coordinate points.Here, those skilled in the art it should be appreciated that above-mentioned each reference point only For citing, if other reference points existing or occur from now on can be suitable for the application, it should also be included in the guarantor of the application In the range of shield, and it is incorporated herein in the form of reference.Here, the line information can be based on, for example, each road of target road The road condition information of section, such as ring road, bend, the gradient, track quantity, possibility is filtered out from target road in each position It is as a reference point to influence the position of the driving locus of vehicle travelled in the target road.It in one implementation, can be with Needs based on practical application scene, flexibly set screening conditions, to determine to meet the reference point for establishing map needs.

Here, the second determining device 403 can determine the co-ordinate position information of the reference point.Here, the coordinate bit Confidence breath can include but is not limited to GPS coordinate information.In one implementation, the line information for obtaining target road The co-ordinate position information of the acquisition reference point is included, such as selection mesh can be clicked directly on GPS coordinate information website Mark each position on road, the co-ordinate position information including reference point.And then when the reference point determines, then the reference point Corresponding co-ordinate position information also mutually should determine that.In another implementation, it can also be and first determine the target road Reference point, and then the co-ordinate position information of selected reference point is further got, such as can be carried from third party's information For in equipment, by co-ordinate position information as described in being obtained in GPS network station, can also calculated under existing road information or Person relies on other modes and obtains the co-ordinate position information.

Here, the coordinate bit of target object can be established based on the co-ordinate position information of the reference point by establishing device 404 Confidence ceases the mapping relations with Orientation on map information.In one implementation, the target object includes vehicle, and then, it builds Vertical device 404 can establish the co-ordinate position information of vehicle and Orientation on map information based on the co-ordinate position information of the reference point Mapping relations.In one implementation, the vehicle can include but is not limited to drive with complete mankind's driving mode, auxiliary Sail pattern, part automatic driving mode, automatic driving mode of having ready conditions, highly automated driving mode or fully automated driving mode Wait the vehicle of arbitrary patterns traveling.Subsequently, can the cartographic information based on structure, as the vehicle co-ordinate position information with The mapping relations of figure location information determine the Orientation on map information for vehicle drive.

X=Longi*R* π/180 --- --- --- --- formula 2

Y=R*ln (tan (45+Lati/2)) --- --- --- --- formula 3

Here, it in one implementation, if the Orientation on map information includes the corresponding track quantity of target object, builds Vertical device 404 can be based on the reference point co-ordinate position information and the corresponding track quantity of the reference point, establish target The mapping relations of the co-ordinate position information of object track quantity corresponding with target object.Here, it can acquire and determine in advance The corresponding track quantity of co-ordinate position information of the reference point, and then, co-ordinate position information and reference by target object The location matches of the co-ordinate position information of point, determine that the corresponding track quantity of the matched reference point is the target object In the corresponding track quantity of its co-ordinate position information.

Present invention also provides a kind of Vehicle Positioning Equipments.Fig. 5 shows to be determined according to a kind of vehicle of the application one side The schematic diagram of position equipment 2.Wherein, the Vehicle Positioning Equipment 2 includes the second acquisition device 501, third determining device 502 and the Four determining devices 503.In a kind of realization method of the application, the Vehicle Positioning Equipment 2 can include the network equipment or Including mobile unit or including vehicle in itself.

Wherein, the second acquisition device 501 can obtain the co-ordinate position information of target vehicle；Third determining device 502 can To determine the reference point with the matched target road of co-ordinate position information of the target vehicle；4th determining device 503 can be with Based on the reference point, the target vehicle is determined with reference to the co-ordinate position information of vehicle and the mapping relations of Orientation on map information Orientation on map information, wherein, the co-ordinate position information of the vehicle and the mapping relations of Orientation on map information are based on described What the co-ordinate position information of reference point was established.

Specifically, the second acquisition device 501 can obtain the co-ordinate position information of target vehicle.In a kind of realization method In, it can be by the corresponding co-ordinate position information harvester of target vehicle, such as the GPS positions of the real-time collection vehicle of GPS receiver Confidence ceases, here, the GPS receiver can include the equipment of high precision apparatus or general precision, such as the GPS of meter level connects Receive device.

Here, third determining device 502 can determine and the matched target track of the co-ordinate position information of the target vehicle The reference point on road.In one implementation, third determining device 502 can be based on the co-ordinate position information, determine described The corresponding target road of target vehicle；And then determine the matched ginseng of co-ordinate position information in target road with the target vehicle Examination point.For example, the GPS coordinate information based on the target vehicle got, determines the target vehicle in which target road On, here, the one or more seats to match in spatial dimension with the GPS coordinate information of the target vehicle can be searched out Cursor position information, and the corresponding road of one or more co-ordinate position information, the mesh that as described target vehicle is currently located Mark road.For example, the GPS coordinate information of the target vehicle is in the road starting point of the target road, road terminating point In the interval range that co-ordinate position information is formed, then judge the target vehicle in the target road.Then, it is the mesh The corresponding reference point of vehicle match is marked, it in one implementation, can be to be selected in the reference point of pre-set target road Partly or entirely as with the matched reference point of the target vehicle；Further, in practical applications, it can be based on needing to carry out With ginseng of the road terminating point as target vehicle of the selection of the matched reference point of the target vehicle, such as selection target road Examination point for another example selects reference point of next ring road mouth location point as target vehicle.

Here, the 4th determining device 503 can be based on the reference point, determine with reference to co-ordinate position information and the map of vehicle The mapping relations of position information determine the Orientation on map information of the target vehicle, wherein, the co-ordinate position information of the vehicle with The mapping relations of Orientation on map information are what the co-ordinate position information based on the reference point was established.

In one implementation, the Vehicle Positioning Equipment 2 further includes the 5th determining device (not shown), and the described 5th Determining device can determine the targeting information of the target vehicle based on the Orientation on map information.In a kind of realization method In, the targeting information of the target vehicle can include but is not limited to following at least any one：Target vehicle is to reference point Distance；The corresponding track quantity of target vehicle；The corresponding track of target vehicle.In one implementation, if based on described Reference point determines that the map of the target vehicle is determined with reference to the co-ordinate position information of vehicle and the mapping relations of Orientation on map information Position information, the Orientation on map information include the distance of vehicle to reference point, the corresponding track quantity of vehicle etc., at this time can be true The one or more conducts targeting information determined in Orientation on map information is exported into row information.In another realization method In, the target positioning letter for finally needing to export can also be further determined that on the basis of the fixed Orientation on map information Breath, if for example, the Orientation on map information include the corresponding track quantity of vehicle, further target vehicle is determined into runway Position, determines the corresponding track quantity of the target vehicle.At this point, the targeting information, i.e., including the target vehicle pair The track quantity answered, further, the targeting information can also include the corresponding track quantity of target vehicle, target vehicle To the distance of reference point, every in the corresponding track quantity of target vehicle or multinomial combination.

Further, in one implementation, the Vehicle Positioning Equipment 2 further includes the 6th determining device (not shown), 6th determining device can determine the driving information of the target vehicle based on the targeting information.In a kind of realization In mode, do driving information and can include but is not limited to the route planning information of target vehicle, control strategy information etc..Here, The targeting information of the target vehicle, for example, the corresponding track quantity of target vehicle, target vehicle to reference point away from It can be as the driving function, particularly Function for Automatic Pilot of succeeding target vehicle from, the corresponding track quantity of target vehicle The part of path planning and control strategy module inputs information.For example, based on targeting information, it may be determined that target vehicle is worked as Anteposition is in distance of which track and next ring road mouth etc., so as to be effectively vehicle path planning and control vehicle Traveling.

In one implementation, the 4th determining device 503 can the co-ordinate position information based on the reference point With the co-ordinate position information of the target vehicle, with reference to vehicle co-ordinate position information and vehicle to the distance of reference point mapping Relationship determines the target vehicle to the first distance of reference point.In one implementation, pre-set ball can be based on The calculating function expression of distance between two points calculates first distance under coordinate system, for example, can calculate the mesh according to formula 1 Vehicle is marked to the first distance of reference point, wherein：The co-ordinate position information of the target vehicle is latitude and longitude information φ₁And θ₁, institute The co-ordinate position information for stating reference point is latitude and longitude information φ₂And θ₂, R represents earth radius.

D=1-alpha* (v_host_speed*delta_t)-beta* (d_GPS)

Wherein：Alpha+beta=1

In one implementation, the 4th determining device 503 can be based on the reference point, with reference to the coordinate of vehicle The mapping relations of location information track quantity corresponding with vehicle determine the corresponding track quantity of the target vehicle.In one kind It, can be true about the look-up table functional relation of reference point co-ordinate position information based on the track quantity pre-established in realization method Determine the corresponding track quantity of the target vehicle, for example, based on the look-up table functional relation, input vehicle current GPS coordinate Information, output are that target vehicle is presently in track total quantity.Here, first determine the co-ordinate position information and ginseng of target object The location matches relationship of the co-ordinate position information of examination point, and then determine that the corresponding track quantity of the matched reference point is institute Target object is stated in the corresponding track quantity of its co-ordinate position information.

In the realization method of the application, the 5th determining device can the lane line based on the target vehicle Relevant information and the corresponding track quantity of the target vehicle, determine the corresponding track of the target vehicle.In a kind of realization side In formula, the lane line relevant information can include but is not limited to the left and right lane mark type of the target vehicle, left and right track Line confidence level etc., wherein, the lane mark type can include the lane lines type informations such as dotted line, solid line, two-wire, in a kind of reality In existing mode, the lane line relevant information, as lane mark type can be based on different geographical, national communication rule is different and go out The otherness of existing content.In one implementation, the lane line relevant information, if lane mark type can also be based on vehicle The needs of running environment are customized.In one implementation, the Vehicle Positioning Equipment 2 further includes harvester (not Show), the harvester can acquire the corresponding lane line relevant information of the target vehicle.For example, by that can realize The photographic device of lane line type information acquires the corresponding lane line relevant information of the target vehicle in real time.Here, it collects The matching of the lane line relevant information corresponding with target vehicle co-ordinate position information, in one implementation, institute State the acquisition and obtain with the time and spatially the one of the co-ordinate position information of the target vehicle of lane line relevant information Cause property.

In one implementation, the Vehicle Positioning Equipment 2 further includes judgment means (not shown), the judgment means It may determine that whether the corresponding track quantity of the target vehicle is less than or equal to preset track amount threshold；Then, if institute The corresponding track quantity of target vehicle is stated less than or equal to preset track amount threshold, the 5th determining device can be based on The corresponding lane line relevant information of target vehicle and the corresponding track quantity of the target vehicle, determine the target carriage Corresponding track.If here, the corresponding track quantity of the target vehicle be more than preset track amount threshold then can be with Select the lane location without target vehicle；If the corresponding track quantity of the target vehicle is less than or equal to preset track Amount threshold, based on the corresponding lane line relevant information of the target vehicle and the corresponding track quantity of the target vehicle, really Determine the corresponding track of the target vehicle.In one implementation, the track amount threshold, which can be based on practical application, needs It flexibly to set.In one implementation, the corresponding lane location method of different track quantity usually determines the target The method in the corresponding track of vehicle also differs.

Further, in one implementation, the 5th determining device can be based on the corresponding vehicle of the target vehicle Diatom relevant information and the corresponding track quantity of the target vehicle, multiple candidate lanes corresponding to the target vehicle carry out First marking calculates；Then, the result that can be calculated based on the described first marking determines described in the multiple candidate lane The corresponding track of target vehicle.Here, the corresponding track quantity of known target vehicle present position, and then based on the vehicle Diatom relevant information, such as left and right lane mark type, based on corresponding marking rule, multiple times corresponding to the target vehicle Track is selected to carry out the first marking to calculate.Fig. 3 shows to determine that the target vehicle corresponds to according to one kind of the application one embodiment Track exemplary plot, by lane line sum N be equal to 4 for illustrate, rightmost side track is referred to as first track, most left Side track is referred to as the 4th track, and under normal circumstances, when lane line sum is 4, solid line or two-wire type lane line appear in Between second and third track or first lane the right or the Four-Lane Road left side, first to fourth track are the mesh Mark the corresponding candidate lane of vehicle.Multiple candidate lanes corresponding to the target vehicle carry out the step of the first marking calculates such as Under：In step 301, lane line total number information is obtained；In step 302, lane line type information is obtained, mesh can also be obtained Mark information, i.e. obstacle information；In step 303, whether the left-hand lane line type for judging currently to detect is two-wire Or solid line type；If so, judging whether the two-wire type is right side side track in step 304；If so, in step In 306 bonus point is not performed to all tracks；If step 304 is judged as NO, the 4th track and second is given in step 307 Root track assignment 1 is divided；If step 303 is judged as NO, 305 are entered step；Judge whether right-hand lane line is deposited in step 305 In two-wire or solid line type.If so, entering step 308, bonus point is not performed to all tracks；If it is not, then in step 309 In divide to third root track and first track assignment 1.It is calculated based on the above-mentioned first marking, it may be determined that each candidate lane Accumulative assignment, and then the corresponding vehicle of the target vehicle can be determined in the multiple candidate lane based on the accumulative assignment Road.

In the realization method of the application, the 5th determining device can be based on the corresponding vehicle of the target vehicle Diatom relevant information, the corresponding obstacle information of the target vehicle and the corresponding track quantity of the target vehicle, determine institute State the corresponding track of target vehicle.Here, the lane location of the application can also be corresponding further combined with the target vehicle Obstacle information, to improve the accuracy of lane location.The obstacle information can be real-time by the photographic device of vehicle It is collected.In one implementation, the corresponding lane line relevant information of the target vehicle and the target can be based on The corresponding track quantity of vehicle, multiple candidate lanes corresponding to the target vehicle carry out the second marking and calculate；Based on described The corresponding obstacle information of target vehicle and the corresponding track quantity of the target vehicle, it is corresponding to the target vehicle multiple Candidate lane carries out third marking and calculates；Then, the result calculated with third marking is calculated based on the described second marking to exist The corresponding track of the target vehicle is determined in the multiple candidate lane.

Here, the mode that second marking calculates can refer to the mode that the above-mentioned first marking calculates, it is no longer superfluous herein It states.It is calculated based on the described second marking, can be that each candidate lane carries out corresponding assignment.Here, with reference to figure 3, it is described to institute Stating the step of corresponding multiple candidate lanes of target vehicle carry out third marking calculating can include：In the step 310, confirm Whether left side perceives barrier；If so, divide in step 311 for first, second and third lane line assignment 1；If it is not, then exist In step 312 bonus point is not performed to all tracks；In step 313, judge whether right side perceives barrier；If so, In a step 314 to second and third, four track assignment 1 divide；If it is not, then in step 315, all tracks are not performed and are added Point.It is given a mark and calculated based on the third, or each candidate lane carries out assignment.Then, based on the described second marking meter Calculate with the result that third marking calculates the corresponding track of the determining target vehicle in the multiple candidate lane.Example Such as, add up to calculate the respective assignment for calculating each candidate lane with third marking by the described second marking, it is tired based on this It counts assignment and the corresponding track of the target vehicle is determined in the multiple candidate lane.Such as in Fig. 3, in step big 316, The score for judging whether there is track is more than preset score threshold, i.e. threshold value；If otherwise return to step 301 re-starts marking It calculates, such as re-starts the second marking calculating, third marking calculating；If then entering step 317, the track of best result is judged It is whether unique；If step 317 judging result is no, return to step 301 re-starts marking and calculates；If step 317 judges knot Fruit is yes, then exports the result of vehicle lane location in step 318.

In one implementation, the Vehicle Positioning Equipment 2 further includes the 7th determining device (not shown), if the mesh It marks vehicle to be in following at least any one state, then the 7th determining device can keep the fixed target vehicle to correspond to Track it is constant：The target vehicle is in during lane change；The corresponding lane line phase of the target vehicle current location information Closing information can not determine.Here, the application can be directed to lane-change situation or lane line correlation letter in target vehicle driving process Breath can not determine, such as the amendment that the situation carry out that can not determine of lane mark type is certain.If for example, detect the target Just in lane change or due to being blocked by roadside tree shade, lane line obscures vehicle, and the fixed target vehicle is kept to correspond to Track it is constant, e.g., determine continue apart from the corresponding track of target vehicle determined by the nearest moment of the state as institute State lane location of the target vehicle in the state.

Further, in one implementation, if the Vehicle Positioning Equipment 2 further includes the 8th determining device (not shown) The target vehicle meets following at least any one condition, then the 8th determining device can redefine the target vehicle and correspond to Track：Based on the corresponding track of the fixed target vehicle, the track for judging to monitor presently described target vehicle is determined There are abnormal conditions in position；Or presently described target vehicle is not in the target where the corresponding track of the fixed target vehicle On road.In one implementation, if the lane line relevant information in target track can not determine to be more than certain waiting time limit, The corresponding track of the fixed target vehicle can be then based on, judges whether the lane location of presently described target vehicle goes out Existing abnormal conditions, such as：If it is determined that vehicle is in most right lane, but right-hand lane line type is dotted line, then such Contradiction will be considered as latent fault, then re-start the lane location of the target vehicle.In another implementation or work as The preceding target vehicle is not in the target road where the corresponding track of the fixed target vehicle, i.e., described target carriage Original target road is had left, then can also re-start the lane location of the target vehicle.Based on above-mentioned reality When monitor, the accuracy positioned to the target vehicle can be improved.

In one implementation, the Vehicle Positioning Equipment 2 further includes third acquisition device (not shown) and the 9th really Determine device (not shown), third acquisition device can obtain the lane change information of target vehicle；9th determining device can be based on The determining corresponding track of the target vehicle and the lane change information determine the corresponding track of the target vehicle after lane change. For example, have been determined that the target track is located at second lane (track quantity is N, and from right to left, track ordinal number is by small increase), The lane change information of current goal vehicle, such as target vehicle lane change to the right are got, then track ordinal number directly subtracts after the completion of lane change 1；Vice versa.In one implementation, the new co-ordinate position information of target vehicle can be obtained, wherein, the target carriage It is operated by lane change and from the co-ordinate position information to be moved to the new co-ordinate position information；Then, based on the coordinate bit Confidence breath, the new co-ordinate position information, and with reference to the corresponding vehicle of the target vehicle corresponding with the co-ordinate position information Road determines the corresponding track of corresponding with the new co-ordinate position information target vehicle.If the here, vehicle there are history Road positioning action can then carry out simple after follow-up lane change maneuver on the basis of the corresponding track of fixed target vehicle Information update, you can to realize the repositioning of target vehicle.

Present invention also provides a kind of equipment for establishing cartographic information, including：

One or more processors；

Memory；And

Obtain the line information of target road；

Determine the co-ordinate position information of the reference point；

Further, the described program of the equipment can be also used for performing in other related embodiments based on aforesaid operations Respective operations.

Present invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, the computer Program can be executed by processor following operation：

Obtain the line information of target road；

Determine the co-ordinate position information of the reference point；

Further, the computer program can be also executed by processor in other related embodiments based on aforesaid operations Respective operations.

Present invention also provides a kind of Vehicle Positioning Equipment, including：

One or more processors；

Memory；And

Obtain the co-ordinate position information of target vehicle；

Fig. 6 shows the exemplary system that can be used for implementing each embodiment described herein；

As shown in Figure 3 in some embodiments, system 600 can be used as Fig. 1, Fig. 2, Fig. 3, Fig. 4, implementation shown in fig. 5 Example or any one equipment 1 or Vehicle Positioning Equipment 2 in other described embodiments.In some embodiments, system 600 can wrap Include with instruction one or more computer-readable mediums (for example, system storage or NVM/ storage devices 620) and with The one or more computer-readable medium couples and is configured as execute instruction performs institute in the application to realize module The one or more processors (for example, (one or more) processor 605) for the action stated.

For one embodiment, system control module 610 may include any suitable interface controller, with to (one or It is multiple) at least one of processor 605 and/or any suitable equipment or component that communicate with system control module 610 carries For any suitable interface.

System control module 610 may include Memory Controller module 630, to provide interface to system storage 615.It deposits Memory controller module 630 can be hardware module, software module and/or firmware module.

System storage 615 can be used for for example, system 600 and load and store data and/or instruction.For a reality Example is applied, system storage 615 may include any suitable volatile memory, for example, appropriate DRAM.In some embodiments In, system storage 615 may include four Synchronous Dynamic Random Access Memory of Double Data Rate type (DDR4SDRAM).

For one embodiment, system control module 610 may include one or more input/output (I/O) controller, with Interface is provided to NVM/ storage devices 620 and (one or more) communication interface 625.

For example, NVM/ storage devices 620 can be used for storing data and/or instruction.NVM/ storage devices 620 may include appointing Anticipating appropriate nonvolatile memory (for example, flash memory) and/or may include that any suitable (one or more) is non-volatile and deposits Equipment is stored up (for example, one or more hard disk drives (HDD), one or more CD (CD) drivers and/or one or more Digital versatile disc (DVD) driver).

NVM/ storage devices 620 may include a part for the equipment being physically mounted on as system 600 Storage resource or its can by the equipment access without the part as the equipment.For example, NVM/ storage devices 620 can It is accessed by network via (one or more) communication interface 625.

(one or more) communication interface 625 can be system 600 provide interface with by one or more networks and/or with Other arbitrary appropriate equipment communications.System 600 can be according to the arbitrary mark in one or more wireless network standards and/or agreement Accurate and/or agreement carries out wireless communication come the one or more components with wireless network.

For one embodiment, at least one of (one or more) processor 605 can be with system control module 610 The logic of one or more controllers (for example, Memory Controller module 630) is packaged together.For one embodiment, (one It is a or multiple) at least one of processor 605 can encapsulate with the logic of one or more controllers of system control module 610 Together to form system in package (SiP).For one embodiment, at least one of (one or more) processor 605 It can be integrated on same mold with the logic of one or more controllers of system control module 610.For one embodiment, At least one of (one or more) processor 605 can be with the logic of one or more controllers of system control module 610 It is integrated on same mold to form system on chip (SoC).

In various embodiments, system 600 can be, but not limited to be：Server, work station, desk-top computing device or movement Computing device (for example, lap-top computing devices, handheld computing device, tablet computer, net book etc.).In various embodiments, System 600 can have more or fewer components and/or different frameworks.For example, in some embodiments, system 600 includes One or more video cameras, keyboard, liquid crystal display (LCD) screen (including touch screen displays), nonvolatile memory port, Mutiple antennas, graphic chips, application-specific integrated circuit (ASIC) and loud speaker.

Obviously, those skilled in the art can carry out the application essence of the various modification and variations without departing from the application God and range.In this way, if these modifications and variations of the application belong to the range of the application claim and its equivalent technologies Within, then the application is also intended to include these modifications and variations.

It should be noted that the present invention can be carried out in the assembly of software and/or software and hardware, for example, can adopt With application-specific integrated circuit (ASIC), general purpose computer or any other realized similar to hardware device.In one embodiment In, software program of the invention can perform to realize steps described above or function by processor.Similarly, it is of the invention Software program can be stored in computer readable recording medium storing program for performing (including relevant data structure), for example, RAM memory, Magnetic or optical driver or floppy disc and similar devices.In addition, hardware can be used to realize in some steps or function of the present invention, example Such as, as coordinating with processor so as to perform the circuit of each step or function.

In addition, the part of the present invention can be applied to computer program product, such as computer program instructions, when its quilt When computer performs, by the operation of the computer, it can call or provide according to the method for the present invention and/or technical solution. And the program instruction of the method for the present invention is called, it is possibly stored in fixed or moveable recording medium and/or passes through Broadcast or the data flow in other signal loaded mediums and be transmitted and/or be stored according to described program instruction operation In the working storage of computer equipment.Here, including a device according to one embodiment of present invention, which includes using Memory in storage computer program instructions and processor for executing program instructions, wherein, when the computer program refers to When order is performed by the processor, method and/or skill of the device operation based on aforementioned multiple embodiments according to the present invention are triggered Art scheme.

It is obvious to a person skilled in the art that the present invention is not limited to the details of above-mentioned exemplary embodiment, Er Qie In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power Profit requirement rather than above description limit, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims Variation includes within the present invention.Any reference numeral in claim should not be considered as to the involved claim of limitation.This Outside, it is clear that one word of " comprising " is not excluded for other units or step, and odd number is not excluded for plural number.That is stated in device claim is multiple Unit or device can also be realized by a unit or device by software or hardware.The first, the second grade words are used for table Show title, and do not represent any particular order.

The various aspects of each embodiment are defined in detail in the claims.Each reality is defined in following number clause Apply these and other aspects of example：

1. a kind of method for establishing cartographic information, wherein, the method includes：

Obtain the line information of target road；

Determine the co-ordinate position information of the reference point；

2. according to the method described in clause 1, wherein, the target object includes vehicle, described based on the reference point The mapping relations that co-ordinate position information establishes the co-ordinate position information and Orientation on map information of target object include：

Co-ordinate position information based on the reference point establishes the co-ordinate position information of vehicle and reflecting for Orientation on map information Penetrate relationship.

3. according to the method described in clause 1, wherein, the Orientation on map information includes following at least any one：

Target object is to the distance of reference point；

Whether target object is in target road flag bit；

The corresponding track quantity of target object.

4. according to the method described in clause 3, wherein, if the Orientation on map information includes the corresponding number of track-lines of target object Amount, the co-ordinate position information based on the reference point establish the co-ordinate position information of target object and Orientation on map information Mapping relations include：

The corresponding track quantity of co-ordinate position information and the reference point based on the reference point, establishes target object The mapping relations of co-ordinate position information track quantity corresponding with target object.

5. according to the method described in clause 1, wherein, the line information for obtaining target road includes：

The line information of target road is obtained from third party's information providing apparatus.

6. according to the method described in clause 5, wherein, the line information for obtaining target road includes：

Target road selection information based on user is segmented from third party's information providing apparatus obtains target road correspondence Line information, wherein, the target road selects the corresponding target road of information to be segmented every institute of acquisition for cyclic annular circuit The corresponding section of line information is stated as non-annularity circuit.

7. the method according to any one of clause 1 to 6, wherein, the reference point includes following at least any one：

Number of track-lines amount change point, upper ring road mouth location point, lower ring road mouth location point, bend starting point, bend terminating point, slope Road starting point, ramp terminating point, road starting point, road terminating point, speed limit change point, and gas station's coordinate points, charge station coordinates Point, charge station's coordinate points.

8. a kind of vehicle positioning method, wherein, the method includes：

Obtain the co-ordinate position information of target vehicle；

9. according to the method described in clause 8, wherein, the method further includes：

The targeting information of the target vehicle is determined based on the Orientation on map information.

10. according to the method described in clause 9, wherein, the method further includes：

The driving information of the target vehicle is determined based on the targeting information.

11. according to the method described in clause 9, wherein, the targeting information of the target vehicle is at least appointed including following One：

Target vehicle is to the distance of reference point；

The corresponding track quantity of target vehicle；

The corresponding track of target vehicle.

12. according to the method described in clause 8, wherein, it is described to determine to match with the co-ordinate position information of the target vehicle The reference point of target road include：

Based on the co-ordinate position information, the corresponding target road of the target vehicle is determined；

Determine in target road with the matched reference point of the co-ordinate position information of the target vehicle.

13. according to the method described in clause 8, wherein, it is described based on the reference point, with reference to the co-ordinate position information of vehicle The Orientation on map information for determining the target vehicle with the mapping relations of Orientation on map information includes：

Co-ordinate position information and the co-ordinate position information of the target vehicle based on the reference point, with reference to the seat of vehicle Cursor position information, to the mapping relations of the distance of reference point, determines the target vehicle to the first distance of reference point with vehicle.

14. it is described based on the reference point according to the method described in clause 13, with reference to co-ordinate position information and the ground of vehicle The mapping relations of figure location information determine that the Orientation on map information of the target vehicle further includes：

If first distance is less than distance threshold, based on the co-ordinate position information of the target vehicle, with reference to the mesh The vehicle traveling information of vehicle is marked, determines the second distance of the target vehicle and the reference point.

15. according to the method described in clause 9, wherein, it is described based on the reference point, with reference to the co-ordinate position information of vehicle The Orientation on map information for determining the target vehicle with the mapping relations of Orientation on map information includes：

Based on the reference point, with reference to the mapping relations of the co-ordinate position information track quantity corresponding with vehicle of vehicle, Determine the corresponding track quantity of the target vehicle.

16. according to the method described in clause 15, wherein, it is described that the target vehicle is determined based on the Orientation on map information Targeting information include：

The corresponding track quantity of lane line relevant information and the target vehicle based on the target vehicle determines described The corresponding track of target vehicle.

17. according to the method described in clause 16, wherein, the method further includes：

Judge whether the corresponding track quantity of the target vehicle is less than or equal to preset track amount threshold；

Wherein, it is described to determine that the targeting information of the target vehicle includes based on the Orientation on map information：

If the corresponding track quantity of the target vehicle is less than or equal to preset track amount threshold, based on the target The corresponding lane line relevant information of vehicle and the corresponding track quantity of the target vehicle, determine that the target vehicle is corresponding Track.

18. according to the method described in clause 16, wherein, the method further includes：

Acquire the corresponding lane line relevant information of the target vehicle.

19. according to the method described in clause 16, wherein, it is described that the target vehicle is determined based on the Orientation on map information Targeting information include：

Based on the corresponding lane line relevant information of the target vehicle and the corresponding track quantity of the target vehicle, to institute It states the corresponding multiple candidate lanes of target vehicle and carries out the first marking calculating；

Determine that the target vehicle is corresponding in the multiple candidate lane based on the result that the described first marking calculates Track.

20. according to the method described in clause 19, wherein, the result calculated based on the described first marking is the multiple It is any one of following to determine that the corresponding track of the target vehicle includes in candidate lane：

There are one if the result calculated based on the described first marking is determined or the score of multiple candidate lanes is more than preset Score threshold, it is the corresponding track of the target vehicle to determine the highest candidate lane of score；

There are one if the result calculated based on the described first marking is determined or the score of multiple candidate lanes is more than preset Score threshold, and the highest candidate lane of score at least there are two, then re-start the first marking calculating；

If the result calculated based on the described first marking determines that the score of no candidate lane is more than preset score threshold, Then re-start the first marking calculating.

21. according to the method described in clause 15, wherein, it is described that the target vehicle is determined based on the Orientation on map information Targeting information include：

Based on the corresponding lane line relevant information of the target vehicle, the corresponding obstacle information of the target vehicle and institute The corresponding track quantity of target vehicle is stated, determines the corresponding track of the target vehicle.

22. according to the method described in clause 21, wherein, it is described that the target vehicle is determined based on the Orientation on map information Targeting information include：

Based on the corresponding lane line relevant information of the target vehicle and the corresponding track quantity of the target vehicle, to institute It states the corresponding multiple candidate lanes of target vehicle and carries out the second marking calculating；

Based on the corresponding obstacle information of the target vehicle and the corresponding track quantity of the target vehicle, to the mesh It marks the corresponding multiple candidate lanes of vehicle and carries out third marking calculating；

The result calculated with third marking is calculated based on the described second marking to determine in the multiple candidate lane The corresponding track of the target vehicle.

23. the method according to clause 16 or 21, wherein, the method further includes：

If the target vehicle is in following at least any one state, the fixed target vehicle is kept to correspond to Track it is constant：

The target vehicle is in during lane change；

The corresponding lane line relevant information of the target vehicle current location information can not determine.

24. according to the method described in clause 23, wherein, the method further includes：

If the target vehicle meets following at least any one condition, the corresponding vehicle of the target vehicle is redefined Road：

Based on the corresponding track of the fixed target vehicle, the lane location for monitoring presently described target vehicle goes out Existing abnormal conditions；

Presently described target vehicle is not in the target road where the corresponding track of the fixed target vehicle.

25. the method according to clause 15 or 21, wherein, the method further includes：

Obtain the lane change information of target vehicle；

Based on the fixed corresponding track of target vehicle and the lane change information, the target carriage after lane change is determined Corresponding track.

26. a kind of equipment for establishing cartographic information, wherein, the equipment includes：

First acquisition device, for obtaining the line information of target road；

27. according to the equipment described in clause 26, wherein, the target object includes vehicle, and the device of establishing is used for：

28. according to the equipment described in clause 26, wherein, the Orientation on map information includes following at least any one：

Target object is to the distance of reference point

Whether target object is in target road flag bit；

The corresponding track quantity of target object.

29. according to the equipment described in clause 28, wherein, if the Orientation on map information includes the corresponding track of target object Quantity, the device of establishing are used for：

30. according to the equipment described in clause 26, wherein, first acquisition device is used for：

31. according to the equipment described in clause 30, wherein, first acquisition device is used for：

32. the equipment according to any one of clause 26 to 31, wherein, the reference point includes following at least any ：

33. a kind of Vehicle Positioning Equipment, wherein, the equipment includes：

34. according to the equipment described in clause 33, wherein, the equipment further includes：

5th determining device, for determining the targeting information of the target vehicle based on the Orientation on map information.

35. according to the equipment described in clause 34, wherein, the equipment further includes：

6th determining device, for determining the driving information of the target vehicle based on the targeting information.

36. according to the equipment described in clause 34, wherein, the targeting information of the target vehicle is at least appointed including following One：

Target vehicle is to the distance of reference point；

The corresponding track quantity of target vehicle；

The corresponding track of target vehicle.

37. according to the equipment described in clause 33, wherein, the third determining device is used for：

38. according to the equipment described in clause 33, wherein, the 4th determining device is used for：

39. according to the equipment described in clause 38, the 4th determining device is additionally operable to：

40. according to the equipment described in clause 34, wherein, the 4th determining device is used for：

41. according to the equipment described in clause 40, wherein, the 5th determining device is used for：

Based on the corresponding lane line relevant information of the target vehicle and the corresponding track quantity of the target vehicle, determine The corresponding track of the target vehicle.

42. according to the equipment described in clause 41, wherein, the equipment further includes：

Judgment means, for judging whether the corresponding track quantity of the target vehicle is less than or equal to preset number of track-lines Measure threshold value；

Wherein, the 5th determining device is used for：

43. according to the equipment described in clause 41, wherein, the equipment further includes：

Harvester, for acquiring the corresponding lane line relevant information of the target vehicle.

44. according to the equipment described in clause 41, wherein, the 5th determining device is used for：

45. according to the equipment described in clause 44, wherein, the result calculated based on the described first marking is the multiple It is any one of following to determine that the corresponding track of the target vehicle includes in candidate lane：

46. according to the equipment described in clause 40, wherein, the 5th determining device is used for：

It is corresponding based on the corresponding lane line relevant information of the target vehicle, the co-ordinate position information of the target vehicle Obstacle information and the corresponding track quantity of the target vehicle, determine the corresponding track of the target vehicle.

47. according to the equipment described in clause 46, wherein, the 5th determining device is used for：

48. the equipment according to clause 41 or 46, wherein, the equipment further includes：

7th determining device, if being in following at least any one state for the target vehicle, holding has determined that The corresponding track of the target vehicle it is constant：

The target vehicle is in during lane change；

49. according to the equipment described in clause 48, wherein, the equipment further includes：

8th determining device if meeting following at least any one condition for the target vehicle, redefines described The corresponding track of target vehicle：

Presently described target vehicle is not in the target road where the corresponding track of the fixed target vehicle On.

50. the equipment according to clause 41 or 46, wherein, the equipment further includes：

Third acquisition device, for obtaining the lane change information of target vehicle；

9th determining device, for being based on the corresponding track of the fixed target vehicle and the lane change information, really Determine the corresponding track of the target vehicle after lane change.

51. a kind of equipment for establishing cartographic information, including：

One or more processors；

Memory；And

One or more programs wherein one or more of programs are stored in the memory, and are configured It is performed by one or more of processors, described program includes the method for performing as described in any one of clause 1-7.

52. a kind of computer readable storage medium, is stored thereon with computer program, the computer program can be handled Device performs the method as described in any one of clause 1-7.

53. a kind of Vehicle Positioning Equipment, including：

One or more processors；

Memory；And

One or more programs wherein one or more of programs are stored in the memory, and are configured It is performed by one or more of processors, described program includes the side for performing as described in any one of clause 8-25 Method.

54. a kind of computer readable storage medium, is stored thereon with computer program, the computer program can be handled Device performs the method as described in any one of clause 8-25.

Claims

Obtain the line information of target road；

Determine the co-ordinate position information of the reference point；

Co-ordinate position information based on the reference point establishes the co-ordinate position information of target object and reflecting for Orientation on map information Penetrate relationship.

2. according to the method described in claim 1, wherein, the target object includes vehicle, described based on the reference point The mapping relations that co-ordinate position information establishes the co-ordinate position information and Orientation on map information of target object include：

The mapping of co-ordinate position information and Orientation on map information that co-ordinate position information based on the reference point establishes vehicle is closed System.

3. a kind of vehicle positioning method, wherein, the method includes：

Obtain the co-ordinate position information of target vehicle；

Based on the reference point, the target is determined with reference to the co-ordinate position information of vehicle and the mapping relations of Orientation on map information The Orientation on map information of vehicle, wherein, the co-ordinate position information of the vehicle and the mapping relations of Orientation on map information are to be based on What the co-ordinate position information of the reference point was established.

4. a kind of equipment for establishing cartographic information, wherein, the equipment includes：

First acquisition device, for obtaining the line information of target road；

Device is established, the co-ordinate position information and map of target object are established for the co-ordinate position information based on the reference point The mapping relations of location information.

5. equipment according to claim 4, wherein, the target object includes vehicle, and the device of establishing is used for：

6. a kind of Vehicle Positioning Equipment, wherein, the equipment includes：

Third determining device, for determining the reference point with the matched target road of co-ordinate position information of the target vehicle；

4th determining device, for being based on the reference point, with reference to the co-ordinate position information of vehicle and reflecting for Orientation on map information The relationship of penetrating determines the Orientation on map information of the target vehicle, wherein, co-ordinate position information and the Orientation on map of the vehicle are believed The mapping relations of breath are what the co-ordinate position information based on the reference point was established.

7. a kind of equipment for establishing cartographic information, including：

One or more processors；

Memory；And

One or more programs, wherein one or more of programs are stored in the memory, and be configured to by One or more of processors perform, and described program includes performing method as claimed in claim 1 or 2.

8. a kind of computer readable storage medium, is stored thereon with computer program, the computer program can be held by processor Row method as claimed in claim 1 or 2.

9. a kind of Vehicle Positioning Equipment, including：

One or more processors；

Memory；And

One or more programs, wherein one or more of programs are stored in the memory, and be configured to by One or more of processors perform, and described program includes performing method as described in any of claims 3.

10. a kind of computer readable storage medium, is stored thereon with computer program, the computer program can be held by processor Row method as described in any of claims 3.