CN111380540B

CN111380540B - Map matching method and device, medium and terminal

Info

Publication number: CN111380540B
Application number: CN201811634366.9A
Authority: CN
Inventors: 朱现龙
Original assignee: Alibaba Group Holding Ltd
Current assignee: Alibaba Group Holding Ltd
Priority date: 2018-12-29
Filing date: 2018-12-29
Publication date: 2024-04-05
Anticipated expiration: 2038-12-29
Also published as: CN111380540A

Abstract

The embodiment of the invention discloses a map matching method and device, a medium and a terminal, wherein the method comprises the following steps: according to the positioning information of the object to be matched, determining common map matching points and matching roads of the object to be matched from loaded common electronic map data, and determining high-precision map matching points and matching lanes of the object to be matched from loaded high-precision electronic map data; and determining map matching information of the object to be matched from the common map matching points and the matching roads of the object to be matched, and the high-precision map matching points and the matching lanes. The technical scheme of the embodiment of the invention can improve the accuracy of the map matching method.

Description

Map matching method and device, medium and terminal

Technical Field

The present invention relates to the field of electronic map technologies, and in particular, to a map matching method and apparatus, a medium, and a terminal.

Background

An electronic map, i.e., a digital map, is a map stored and referred to digitally using computer technology, and is a map presented in a paperless manner using collected map data.

Map matching refers to a process of matching the position of an object to be matched to an electronic map, that is, a process of determining the position of the object to be matched in the electronic map.

The accuracy of the existing map matching method needs to be improved.

Disclosure of Invention

The technical problem solved by the embodiment of the invention is to improve the accuracy of the map matching method.

In order to solve the above technical problems, an embodiment of the present invention provides a map matching method, including: according to the positioning information of the object to be matched, determining common map matching points and matching roads of the object to be matched from loaded common electronic map data, and determining high-precision map matching points and matching lanes of the object to be matched from loaded high-precision electronic map data; and determining map matching information of the object to be matched from the common map matching points and the matching roads of the object to be matched, and the high-precision map matching points and the matching lanes.

Optionally, the determining the map matching information of the object to be matched from the common map matching points and the matching roads of the object to be matched, the high-precision map matching points and the matching lanes includes: if the matching lane of the object to be matched is not empty, judging whether the positioning position contained in the positioning information of the object to be matched is located in the matching lane, if so, determining the high-precision positioning matching point as a map matching point of the object to be matched, and if not, comparing the distances between the high-precision map matching point and the common map matching point to the positioning position of the object to be matched; if the distance between the high-precision map matching points is smaller than that between the common map matching points, determining the high-precision map matching points and the matching lanes as map matching information of the objects to be matched; and if the distance between the high-precision map matching points is larger than that between the common map matching points, determining the common map matching points and the matching roads as map matching information of the objects to be matched.

Optionally, the determining the map matching information of the object to be matched from the common map matching points and the matching roads of the object to be matched, the high-precision map matching points and the matching lanes specifically includes: and if the matching lane of the object to be matched is empty and the matching road is not empty, or if the high-precision map matching point and the matching lane of the object to be matched are both empty, determining the common map matching point and the matching road as map matching information of the object to be matched.

Optionally, the method further comprises: judging whether the distance from the object to be matched to the boundary of the loaded common electronic map data is smaller than a preset first distance threshold value or not and whether the distance from the boundary of the loaded high-precision electronic map data is smaller than a second distance threshold value or not according to the positioning position included in the positioning information of the object to be matched; if so, loading common electronic map data and high-precision electronic map data in a first geographical range preset around the positioning position of the object to be matched, and then executing the steps of determining common map matching points and matching roads of the object to be matched from the loaded common electronic map data and determining high-precision map matching points and matching lanes of the object to be matched from the loaded high-precision electronic map data according to the positioning information of the object to be matched; if not, executing the steps of determining the common map matching points and the matching roads of the object to be matched from the loaded common electronic map data and determining the high-precision map matching points and the matching lanes of the object to be matched from the loaded high-precision electronic map data according to the positioning information of the object to be matched.

Optionally, the determining, according to the positioning information of the object to be matched, the common map matching point and the matching road of the object to be matched from the loaded common electronic map data, and determining the high-precision map matching point and the matching lane of the object to be matched from the loaded high-precision electronic map data specifically includes: according to the positioning position included in the positioning information of the object to be matched, road data in a second geographical range preset around the object to be matched is obtained from loaded common electronic map data, and lane data in the second geographical range preset around the object to be matched is obtained from loaded high-precision electronic map data; screening an alternative matching road and an alternative matching lane from the road data and the lane data according to the positioning position and the course angle included in the positioning information of the object to be matched; and determining common map matching points and matching roads, high-precision map matching points and matching lanes of the objects to be matched in the candidate matching roads and the candidate matching lanes according to the positioning positions and the course angles included in the positioning information of the objects to be matched.

Optionally, determining, according to the location position and the course angle included in the location information of the object to be matched, common map matching points and matching roads and high-precision map matching points and matching lanes of the object to be matched in the candidate matching roads and candidate matching lanes, specifically includes: acquiring the shortest distance from a positioning position of an object to be matched to each road section of an alternative matching road, and determining a point corresponding to the shortest distance as an alternative common map matching point of the road section; acquiring the shortest distance from a positioning position of an object to be matched to each lane segment of an alternative matching lane, and determining a point corresponding to the shortest distance as an alternative high-precision map matching point of the lane segment; according to the shortest distance of each road section of the alternative matching road, the direction of each road section and the positioning information including the positioning position, the heading and the history matching road, obtaining the weight of each road section and the corresponding alternative common map matching point; obtaining the weight of each lane segment and the corresponding alternative high-precision map matching point according to the shortest distance of each lane segment of the alternative matching lane, the direction of each lane segment and the positioning information including the positioning position, the heading and the history matching lane; obtaining the common map matching points and the matching roads according to the weights of the common map matching points and the connection relation between the common roads and the history matching roads; and obtaining the high-precision map matching point and the matching lane according to the weight of the candidate high-precision map matching point and the connection relation between the candidate matching lane where the candidate high-precision map matching point is located and the history matching lane.

Optionally, obtaining the high-precision map matching point and the matching lane according to the weight of the high-precision map matching point and the connection relation between the candidate matching lane where the high-precision map matching point is located and the history matching lane, specifically including: sequencing the candidate high-precision map matching points according to the sequence from small weight to large weight, starting from the candidate high-precision map matching point sequenced first, and finding the candidate high-precision map matching point positioned in the history matching lane as an ending point; the following steps are performed for each alternative high-precision map matching point ordered before the termination point: judging whether the candidate high-precision map matching point is positioned in a history matching lane or not, if so, marking the candidate high-precision map matching point as a preferred point, if not, judging whether the candidate lane in which the candidate high-precision map matching point is positioned has a connection relation with the history matching lane, if so, marking the candidate high-precision map matching point as a preferred point, otherwise, ending the processing of the candidate high-precision map matching point; if none of the candidate high-precision map matching points sequenced before the termination point is marked as a preferred point, or more than one of the candidate high-precision map matching points sequenced before the termination point is marked as a preferred point, and the sum of the marked number and the number of the candidate high-precision map matching points marked as the preferred points in the executed map matching process does not reach a preset threshold value, taking the candidate high-precision map matching points and the candidate matching lanes corresponding to the termination point as the high-precision map matching points and the matching lanes; and if more than one candidate high-precision map matching point which is sequenced before the termination point is marked as a preferred point, and the sum of the marked number and the number of the candidate high-precision map matching points marked as the preferred point in the executed map matching process reaches a preset threshold value, taking the candidate high-precision map matching points and the candidate matching lanes corresponding to the preferred point as the high-precision map matching points and the matching lanes.

Optionally, obtaining the common map matching point and the matching road according to the weight of the common map matching point and the connection relation between the common road where the common map matching point is located and the history matching road, specifically including: the method comprises the steps of sorting the candidate ordinary map matching points according to the order of the weights from small to large, starting from the first candidate ordinary map matching point, and finding the candidate ordinary map matching point positioned on the history matching road as an ending point; the following steps are performed for each alternative common map matching point ordered before the termination point: judging whether the candidate common map matching point has a connection relation with the history matching point, if so, taking the candidate common map matching point and the candidate matching road corresponding to the candidate common map matching point as the common map matching point and the matching road, if not, judging whether the road where the candidate common map matching point is positioned and the road where the history matching point is positioned are U-shaped roads, if so, ending the processing of the candidate common map matching point, if not, judging whether the road where the candidate common map matching point is positioned and the road where the history matching point is positioned are parallel roads, if so, selecting the candidate common map matching point and the candidate matching road corresponding to the candidate common map matching point as the common map matching point and the matching road, and if not, ending the processing of the candidate common map matching point; and if the common map matching point and the matching road are not determined at the end point, taking the alternative common map matching point and the alternative matching road corresponding to the end point as the common map matching point and the matching road.

The embodiment of the invention also provides a map matching device, which comprises: the positioning information matching unit is suitable for determining common map matching points and matching roads of the object to be matched from loaded common electronic map data and determining high-precision map matching points and matching lanes of the object to be matched from loaded high-precision electronic map data according to the positioning information of the object to be matched; and the map matching information determining unit is suitable for determining the map matching information of the object to be matched from the common map matching points and the matching roads of the object to be matched, the high-precision map matching points and the matching lanes.

The embodiment of the invention also provides a computer readable storage medium, wherein computer instructions are stored on the computer readable storage medium, and the computer instructions execute the steps of the map matching method when running.

The embodiment of the invention also provides a terminal, which comprises a memory and a processor, wherein the memory stores computer instructions capable of running on the processor, and the processor executes the steps of the map matching method when running the computer instructions.

Compared with the prior art, the technical scheme of the embodiment of the invention has the following beneficial effects:

In the embodiment of the invention, the positioning information of the object to be matched is determined, the common map matching point and the matching road of the object to be matched are determined from loaded common electronic map data, the high-precision map matching point and the matching lane of the object to be matched are determined from loaded high-precision electronic map data, and the map matching information of the object to be matched is determined according to the loaded common electronic map data and the information obtained from the loaded high-precision electronic map data, namely, the map matching information of the object to be matched is determined from the common map matching point and the matching road of the object to be matched, the high-precision map matching point and the matching lane. In the embodiment of the invention, the map matching information is derived from the loaded common electronic map data and the information obtained from the loaded high-precision electronic map data, and can be preferentially determined from the common map matching points and the matching roads of the objects to be matched, the high-precision map matching points and the matching lanes, and more accurate information in the two can be selected as the information to be matched, so that the matching information in the embodiment of the invention is more accurate.

Drawings

FIG. 1 is a flow chart of a map matching method in an embodiment of the invention;

FIG. 2 is a flow chart of a method of determining map matching information for an object to be matched in an embodiment of the invention;

FIG. 3 is a flow chart of a method of determining a matching point, a matching road, and a matching lane in an embodiment of the invention;

FIG. 4 is a flow chart of a method for determining common map matching points and matching roads of an object to be matched in an embodiment of the invention;

FIG. 5 is a flow chart of a method of processing alternative common map matching points in an embodiment of the present invention;

FIG. 6 is a flow chart of a method of determining high-precision map matching points and matching lanes of an object to be matched in an embodiment of the present invention;

FIG. 7 is a flow chart of a method of processing alternative common map matching points in an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a map matching apparatus according to an embodiment of the present invention;

fig. 9 is a schematic diagram of a map matching information determining unit in the embodiment of the present invention;

FIG. 10 is a schematic diagram of another embodiment of a location information matching unit;

FIG. 11 is a schematic diagram of a structure of a matching point, a matching road, and a matching lane determining subunit according to an embodiment of the present invention;

Fig. 12 is a schematic structural diagram of a high-precision map matching point and matching lane determining module according to an embodiment of the present invention;

fig. 13 is a schematic structural diagram of an alternative ordinary map matching point weight determining module in an embodiment of the present invention.

Detailed Description

In map matching methods, the number of ordinary maps accurate to the road is generally based. With the development of mapping and data technology, the precision of the map is higher and higher, and high-precision map data which can be accurate to the level of a lane is generated.

In the map matching method, map matching is performed on objects to be matched by using high-precision map data accurate to a lane level, so that matching accuracy is improved. However, in some road segments or some scenes, there may be situations that the high-precision map data is not matched or the accuracy of the matching is poor, so if the high-precision map data is used only for map matching of the objects to be matched, in these scenes, the map matching is difficult to output data or the accuracy of the output data is poor, and the accuracy of the map matching needs to be improved.

In the embodiment of the invention, the positioning information of the object to be matched is determined, the common map matching point and the matching road of the object to be matched are determined from loaded common electronic map data, the high-precision map matching point and the matching lane of the object to be matched are determined from loaded high-precision electronic map data, and the map matching information of the object to be matched is determined according to the loaded common electronic map data and the information obtained from the loaded high-precision electronic map data, namely, the map matching information of the object to be matched is determined from the common map matching point and the matching road of the object to be matched, the high-precision map matching point and the matching lane.

In the embodiment of the invention, the map matching information is derived from the loaded common electronic map data and the loaded high-precision electronic map data, and can be preferentially determined from the common map matching points and the matching roads of the objects to be matched, the high-precision map matching points and the matching lanes, and more accurate information in the two can be selected as the information to be matched, so that the matching information in the embodiment of the invention is more accurate.

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.

Fig. 1 is a flowchart of a map matching method in an embodiment of the present invention, which specifically includes the following steps:

step S11, according to the positioning information of the object to be matched, determining common map matching points and matching roads of the object to be matched from loaded common electronic map data and determining high-precision map matching points and matching lanes of the object to be matched from loaded high-precision electronic map data;

and step S12, determining map matching information of the object to be matched from the common map matching points and the matching roads of the object to be matched, and the high-precision map matching points and the matching lanes.

As described above, the normal map data is road-accurate map data, and the high-precision map data is lane-accurate map data. That is, the accuracy of the high-precision map data is higher than that of the ordinary map data, and it is possible to be accurate to a specific lane in a road.

In a specific implementation, the common map matching points and the matching roads of the object to be matched are determined from the loaded common electronic map data, and the high-precision map matching points and the matching lanes of the object to be matched are determined from the loaded high-precision electronic map data, which can be implemented in various ways by those skilled in the art, and are not limited herein.

It will be appreciated by those skilled in the art that in different application scenarios, the object to be matched may be various, for example, if the map matching method is applied to vehicle navigation, the object to be matched may be a vehicle, or the object to be matched may be another vehicle.

After the common map matching points and the matching roads, the high-precision map matching points and the matching lanes of the object to be matched are determined, the map matching information of the object to be matched can be determined from the common map matching points and the matching roads, the high-precision map matching points and the matching lanes of the object to be matched.

Specifically, map matching information of the object to be matched can be determined according to the matching conditions of the common electronic map data and the high-precision electronic map data with the positioning information of the object to be matched.

For example, if the matching lane of the object to be matched is empty and the matching road is not empty, or if both the high-precision map matching point and the matching lane of the object to be matched are empty, the common map matching point and the matching road may be determined as map matching information of the object to be matched.

As described above, in some road segments or some scenes, there may occur a case where high-precision map data corresponding to the positioning position of the object to be matched is not matched, in which case, map matching information of the object to be matched is determined from the common map matching points of the object to be matched and the matching road, and a case where no data is output based on only the high-precision map data may be avoided.

In other specific implementations, if the positioning information of the object to be matched corresponds to the matching result of the high-precision map data and the common map data, the map matching information can be preferentially determined in the matching result of the high-precision map data and the common map data, namely, the map matching information is determined from the common map matching point and the matching road, and the high-precision map matching point and the matching lane, and the map matching information is further determined in the map matching information.

Further, the basis of the map matching information is determined in the matching result of the two, and the map matching information of the object to be matched can be determined according to the positioning information of the object to be matched, the relationship between at least two of the high-precision map matching point and the matching lane, and the relationship between at least two of the positioning information of the object to be matched, the common map matching point and the matching road.

For example, referring to fig. 2, in an implementation, determining map matching information for an object to be matched may include the steps of:

step S21, if the matching lane of the object to be matched is not empty, judging whether the positioning position contained in the positioning information of the object to be matched is located in the matching lane, if so, determining the high-precision positioning matching point as the map matching point of the object to be matched, and if not, comparing the distances between the high-precision map matching point and the common map matching point to the positioning position of the object to be matched.

And S22, if the distance between the high-precision map matching points is smaller than that between the common map matching points, determining the high-precision map matching points and the matching lanes as map matching information of the objects to be matched.

In step S23, if the distance between the high-precision map matching points is greater than the distance between the common map matching points, the common map matching points and the matching road are determined as map matching information of the object to be matched.

Because the high-precision positioning matching point can be matched with the lane, under the condition that the positioning position of the object to be matched is positioned in the matched lane, the high-precision positioning matching point is preferably determined to be the map matching point of the object to be matched, and the accuracy of the matching information can be improved. By judging the distances from the higher precision map matching point and the common map matching point to the positioning position of the object to be matched respectively, and selecting the matching point with the distance from the distance to the positioning position of the object to be matched to the matching information, the deviation can be reduced, and the matching information is more accurate.

In a specific implementation, before the common map matching point and the matching road of the object to be matched are determined from the loaded common electronic map data and before the high-precision map matching point and the matching lane of the object to be matched are determined from the loaded high-precision electronic map data, whether the loading of the map data is needed or not can be judged, that is, any one of the common electronic map data and the high-precision electronic map data is loaded, the loading of the map data can be carried out when the judging result is yes, or if the judging result is not needed, the common map matching point and the matching road of the object to be matched and the high-precision map matching point and the matching lane can be determined.

In a specific implementation, whether any one of high-precision electronic map data and common electronic map data needs to be loaded can be judged according to a preset distance threshold.

Specifically, whether the distance from the object to be matched to the boundary of the loaded common electronic map data is smaller than a preset first distance threshold and whether the distance from the boundary of the loaded high-precision electronic map data is smaller than a second distance threshold can be judged according to the positioning position included in the positioning information of the object to be matched, and if any one of the two is judged to be yes, the common electronic map data and the high-precision electronic map data can be loaded correspondingly.

The first distance and the second distance threshold may be the same or different, and may be specifically determined according to the loading speed of the first distance and the second distance and the moving speed of the object to be matched. In an implementation, if the loading speed of the high-precision map data is slower in the same geographic location range, the first distance threshold may be smaller than the second distance threshold.

In the implementation, if the distance from the object to be matched to the boundary of the loaded common electronic map data is smaller than a preset first distance threshold value, the common electronic map data of a first geographic range preset around the positioning position of the matched object can be loaded; if the distance from the object to be matched to the loaded boundary of the common electronic map data is smaller than the preset second distance threshold value, high-precision electronic map data of a first geographic range preset around the positioning position of the matched object can be loaded.

Further, the first geographic range may be determined comprehensively according to the operation speed, the data loading speed, and the moving speed of the object to be matched.

After loading the map data in the first geographical range, or if it is judged that the loading of the map data is not required, the steps of determining the common map matching points and the matching roads of the object to be matched from the loaded common electronic map data and determining the high-precision map matching points and the matching lanes of the object to be matched from the loaded high-precision electronic map data according to the positioning information of the object to be matched may be performed. Wherein the map data includes at least one of high-definition map data and general map data.

In a specific implementation, referring to fig. 3, according to positioning information of an object to be matched, a process of determining a common map matching point and a matching road of the object to be matched from loaded common electronic map data and determining a high-precision map matching point and a matching lane of the object to be matched from loaded high-precision electronic map data may include the following steps:

step S31, according to the positioning position included in the positioning information of the object to be matched, road data in a second geographical range preset around the object to be matched is obtained from loaded common electronic map data, and lane data in the second geographical range preset around the object to be matched is obtained from loaded high-precision electronic map data;

Step S32, screening an alternative matching road and an alternative matching lane from the road data and the lane data according to the positioning position and the course angle included in the positioning information of the object to be matched;

and step S33, determining common map matching points and matching roads, high-precision map matching points and matching lanes of the objects to be matched in the candidate matching roads and the candidate matching lanes according to the positioning positions and the course angles included in the positioning information of the objects to be matched.

Wherein the second geographic area is smaller than the first geographic area, further determined from the first geographic area. Specifically, the second geographical range may be further determined according to the positioning position, the heading angle, the calculation speed, the data loading speed, and the moving speed of the object to be matched.

For example, in an embodiment of the present invention, according to a moving speed, a loading speed, an operating speed, and the like of an object to be matched, the first geographic range is comprehensively determined to be a range of 500 meters to 1000 meters in diameter with a positioning position of the object to be matched as a center.

Further, according to the positioning position, the course angle, the operation speed, the data loading speed and the moving speed of the object to be matched, the second geographical range is determined as a range between 10 meters and 30 meters away from the object to be matched in the course direction of the object to be matched.

It will be appreciated by those skilled in the art that the above values are distances only and are not limiting of the first and second geographical ranges.

In a specific implementation, the candidate matching road may be determined in each road segment included in the road data within the second geographic range, and the candidate matching lane may be determined in each lane segment included in the lane data within the second geographic range.

Further, by combining the positioning position and the course angle, common map matching points and matching roads of the object to be matched are determined in the alternative matching roads, and high-precision map matching points and matching lanes are determined in the alternative matching lanes.

By determining the second geographical range, acquiring lane data in the second geographical range preset around the object to be matched, acquiring road data in the second geographical range preset around the object to be matched, determining an alternative matching road from the road data in the second geographical range, further determining an alternative matching lane from common map matching points and matching roads of the object to be matched, and determining a high-precision map matching point and matching lane of the object to be matched, further determining the high-precision map matching points and the matching lane of the object to be matched, the calculation range in the matching process can be reduced, the calculation amount can be reduced, and the efficiency of the matching method can be improved.

In a specific implementation, the determining, according to the location position and the course angle included in the location information of the object to be matched, the common map matching point and the matching road of the object to be matched and the high-precision map matching point and the matching lane in the candidate matching road and the candidate matching lane may be implemented in various manners, which is not limited herein. The following describes, by way of example, a normal map matching point and a matching road for determining an object to be matched in the candidate matching road, and a high-precision map matching point and a matching lane for determining an object to be matched in the candidate matching lane, respectively.

Referring to fig. 4, in an embodiment of the present invention, a common map matching point and a matching road of an object to be matched may be determined by:

step S41, obtaining the shortest distance from the positioning position included in the positioning information of the object to be matched to each road section of the alternative matching road, and determining the point corresponding to the shortest distance as an alternative common map matching point of the road section;

step S42, according to the shortest distance of each road section of the alternative matching road, the direction of each road section and the positioning information including the positioning position, the heading and the history matching road, obtaining the weight of each road section and the corresponding alternative common map matching point;

And step S43, obtaining the common map matching points and the matching roads according to the weights of the common map matching points and the connection relation between the common roads and the history matching roads.

In a specific implementation, the determination of the candidate matching road may be implemented in the specific implementation described above, or may be implemented in other manners. The candidate matching roads may be one or more, and each candidate matching road may include one or more road segments.

The road section of the road to be matched can be formed by two shape points on the road center line, and the two shape points serve as end points of the road section. The shortest distance between the positioning position of the object to be matched and a road section can be the minimum distance between the positioning position of the object to be matched and the two shape points, and the minimum vertical distance obtained by making a vertical line to the road section. The point corresponding to the minimum distance may be an alternative common map matching point, so the alternative common map matching point may be an end point of the road segment, or may be a projection point of the positioning position on the road segment.

In specific implementation, various calculation modes can be adopted, and the weight of each road section and the corresponding alternative common map matching point is obtained according to the shortest distance of each road section of the alternative matching road, the direction of each road section and the positioning information including the positioning position, the heading and the history matching road.

Specifically, the first sub-weight may be determined according to the shortest distance of the positioning location from the road section; determining a second sub-weight according to the direction of the road section and the angle difference between the heading directions of the objects to be matched; determining a third sub-weight according to whether the positioning position is in the road section or not; determining a fourth sub-weight according to the connection relation between the road section and the history matching road section; and determining the weight of each road section and the corresponding alternative common map matching point according to the first to fourth sub weights.

In a specific implementation, the weight of each road section and the corresponding alternative common map matching point can be determined in other modes, so that the weight can embody the shortest distance between the locating position and the road section, the direction of the road section, the angle difference between the heading of the object to be matched, whether the locating position is in the lane section and the connection relation between the lane section and the history matching road section.

After the weight of each road segment and the corresponding alternative common map matching point is determined, the common map matching point and the matching road can be obtained according to the weight of the alternative common map matching point and the connection relation between the alternative common road where the alternative common map matching point is located and the history matching road.

Specifically, referring to fig. 5, the candidate ordinary map matching points may be ranked in order of from small to large in weight, starting from the candidate ordinary map matching point ranked first, finding the candidate ordinary map matching point located on the history matching road as an ending point, and executing the following steps for each candidate ordinary map matching point ranked before the ending point, that is, the candidate ordinary map matching point to be processed:

step S51, judging whether the alternative common map matching points and the history matching points have a connection relation, if so, executing step S54, and if not, executing step S52;

step S52, judging whether the road where the candidate common map matching point is located and the road where the history matching point is located are U-shaped, if so, executing step S55, and if not, executing step S53;

step S53, judging whether the road where the candidate common map matching point is located and the road where the history matching point is located are parallel roads, if so, executing step S54, and if not, executing step S55;

step S54, using the alternative common map matching points and the alternative matching roads corresponding to the alternative common map matching points as the common map matching points and the matching roads;

step S55, the process for the alternative ordinary map matching point is ended.

After the steps are executed on each alternative common map matching point sequenced before the ending point, if the fact that the common map matching point and the matching road are not determined at the ending point is judged, the alternative common map matching point and the alternative matching road corresponding to the ending point are used as the common map matching point and the matching road.

In a specific implementation, the specific implementation of determining the high-precision map matching points and the matching lanes of the object to be matched may be similar to the specific implementation of determining the common map matching points and the matching roads of the object to be matched.

Referring to fig. 6, in an embodiment of the present invention, high-precision map matching points and matching lanes of an object to be matched may be determined by:

step S61, the shortest distance from the positioning position of the object to be matched to each lane segment of the alternative matching lane is obtained, and the point corresponding to the shortest distance is determined as the alternative high-precision map matching point of the lane segment.

Step S62, according to the shortest distance of each lane segment of the alternative matching lane, the direction of each lane segment and the positioning information including the positioning position, the heading and the history matching lane, the weight of each lane segment and the corresponding alternative high-precision map matching point is obtained.

And step S63, obtaining the high-precision map matching point and the matching lane according to the weight of the candidate high-precision map matching point and the connection relation between the candidate matching lane where the candidate high-precision map matching point is located and the history matching lane.

In a specific implementation, the lane segment of the lane to be matched may be formed by two shape points on the lane center line, where the two shape points serve as end points of the lane segment. The shortest distance from the positioning position of the object to be matched to a lane segment may refer to the minimum distance between the positioning position of the object to be matched and the two end points, and the vertical distance obtained by making a vertical line to the lane segment from the positioning position of the object to be matched. The point corresponding to the minimum distance can be used as an alternative high-precision map matching point, so the alternative high-precision map matching point can be an end point of the lane segment or can be a projection point of the positioning position on the lane segment.

In specific implementation, various calculation modes can be adopted, and the weight of each lane segment and the corresponding alternative high-precision map matching point is determined based on the shortest distance of each lane segment, the direction of each lane segment and the positioning information including the positioning position, the heading and the history matching lane.

Specifically, similar to determining the weight of the candidate common map matching point, the first sub-weight may be determined according to the shortest distance between the positioning position and the lane segment; determining a second sub-weight according to the direction of the lane segment and the angle difference between the heading directions of the objects to be matched; determining a third sub-weight according to whether the positioning position is in the lane segment or not; determining a fourth sub-weight according to the connection relation between the road section and the history matching lane section; and determining the weight of each lane segment and the corresponding alternative high-precision map matching point according to the first to fourth sub weights.

In a specific implementation, the weight of each lane segment and the corresponding alternative high-precision map matching point can be determined in other modes, so that the weight can embody the shortest distance between the positioning position and the lane segment, the direction of the lane segment, the angle difference between the heading of the object to be matched, whether the positioning position is in the lane segment and the connection relation between the lane segment and the history matching lane segment.

After the weight of each lane segment and the corresponding alternative high-precision map matching point is determined, the high-precision map matching point and the matching lane can be obtained according to the weight of the alternative high-precision map matching point and the connection relation between the alternative matching lane where the alternative high-precision map matching point is located and the history matching lane.

Specifically, referring to fig. 7, the candidate high-precision map matching points may be ranked in order of from small to large, starting from the candidate high-precision map matching point ranked first, finding the candidate high-precision map matching point located in the history matching lane as an ending point, and executing the following steps for each candidate high-precision map matching point ranked before the ending point, that is, the candidate high-precision map matching point to be processed:

step S71, judging whether the alternative high-precision map matching point is positioned in the history matching lane, if so, executing step S73, otherwise, executing step S72;

step S72, judging whether the alternative lane where the alternative high-precision map matching point is located has a connection relation with the history matching lane, if so, executing step S73, otherwise, executing step S74;

step S73, marking the candidate high-precision map matching points as preferred points;

step S74, the process for the candidate high-precision map matching point is ended.

After executing the steps on each of the candidate high-precision map matching points sequenced before the termination point, if none of the candidate high-precision map matching points sequenced before the termination point is marked as a preferred point, or if more than one of the candidate high-precision map matching points sequenced before the termination point is marked as a preferred point, the sum of the marked number and the number of the candidate high-precision map matching points marked as the preferred point in the executed map matching process does not reach a preset threshold value, taking the candidate high-precision map matching points and the candidate matching lanes corresponding to the termination point as the high-precision map matching points and the matching lanes; and if more than one candidate high-precision map matching point which is sequenced before the termination point is marked as a preferred point, and the sum of the marked number and the number of the candidate high-precision map matching points marked as the preferred point in the executed map matching process reaches a preset threshold value, taking the candidate high-precision map matching points and the candidate matching lanes corresponding to the preferred point as the high-precision map matching points and the matching lanes.

Wherein, the first candidate high-precision map matching point is determined as the point with the highest possibility of the final high-precision map matching point from the weight angle, and further judgment is performed from the point, so that the calculation amount of the judgment process can be reduced.

As described above, the candidate high-precision map matching points located in the history matching lane are used as the termination points, so the preferred points ranked before the termination points are the candidate high-precision map matching points not located in the history matching lane. By judging whether the sum of the number of marked preferred points and the number of the alternative high-precision map matching points marked as the preferred points in the map matching process is up to a preset threshold value or not, when the sum of the number of the marked preferred points and the number of the alternative high-precision map matching points marked as the preferred points reaches the preset threshold value, the alternative high-precision map matching points and the alternative matching lanes corresponding to the preferred points are selected as the high-precision map matching points and the matching lanes, so that the false determination of the matching lanes can be avoided.

Further, the number of marked preferred points and the alternative high-precision map matching points marked as preferred points in the map matching process can only comprise the preferred points of the same lane, so that the situation that the matching lanes are switched by mistake is further avoided.

In the embodiment of the invention, the positioning information of the object to be matched is determined, the common map matching point and the matching road of the object to be matched are determined from loaded common electronic map data, the high-precision map matching point and the matching lane of the object to be matched are determined from loaded high-precision electronic map data, and the map matching information of the object to be matched is determined according to the loaded common electronic map data and the information obtained from the loaded high-precision electronic map data, namely, the map matching information of the object to be matched is determined from the common map matching point and the matching road of the object to be matched, the high-precision map matching point and the matching lane. In the embodiment of the invention, the map matching information is derived from the loaded common electronic map data and the information obtained from the loaded high-precision electronic map data, and can be preferentially determined from the common map matching points and the matching roads of the objects to be matched, and the high-precision map matching points and the matching lanes, so that the matching information in the embodiment of the invention is more accurate.

The embodiment of the invention also provides a map matching device, the structure schematic diagram of which is shown in fig. 8, which specifically may include:

a positioning information matching unit 81 adapted to determine a common map matching point and a matching road of the object to be matched from the loaded common electronic map data and a high-precision map matching point and a matching lane of the object to be matched from the loaded high-precision electronic map data according to the positioning information of the object to be matched;

the map matching information determining unit 82 is adapted to determine map matching information of the object to be matched from among the common map matching points and the matching roads of the object to be matched, the high-precision map matching points and the matching lanes.

In a specific implementation, referring to fig. 8 and 9, the map matching information determining unit 82 in fig. 8 may include:

the positioning position judging and comparing subunit 91 is adapted to judge whether the positioning position contained in the positioning information of the object to be matched is located in the matching lane when the matching lane of the object to be matched is not empty, if yes, the high-precision positioning matching point is determined as the map matching point of the object to be matched, and if not, the distances from the high-precision map matching point and the common map matching point to the positioning position of the object to be matched are compared;

A matching information determination subunit 92 adapted to determine the high-precision map matching point and the matching lane as map matching information of the object to be matched when the distance of the high-precision map matching point is smaller than the distance of the ordinary map matching point; and when the distance between the high-precision map matching points is larger than that between the common map matching points, determining the common map matching points and the matching roads as map matching information of the objects to be matched.

In a specific implementation, with continued reference to fig. 8, the map matching information determining unit 82 is adapted to determine the common map matching point and the matching road as the map matching information of the object to be matched when the matching lane of the object to be matched is empty and the matching road is not empty, or if both the high-precision map matching point and the matching lane of the object to be matched are empty.

In an implementation, the map matching apparatus may further include: the loading control unit 83 is adapted to determine, according to a positioning position included in the positioning information of the object to be matched, whether a distance from the object to be matched to a boundary of the loaded common electronic map data is smaller than a preset first distance threshold value, and whether a distance from the boundary of the loaded high-precision electronic map data is smaller than a second distance threshold value; if yes, loading common electronic map data and high-precision electronic map data in a first geographical range preset around the positioning position of the object to be matched, and then executing the steps of determining common map matching points and matching roads of the object to be matched from the loaded common electronic map data and determining high-precision map matching points and matching lanes of the object to be matched from the loaded high-precision electronic map data by a positioning information matching unit 81 according to the positioning information of the object to be matched; if not, the step of determining the common map matching points and the matching roads of the object to be matched from the loaded common electronic map data and determining the high-precision map matching points and the matching lanes of the object to be matched from the loaded high-precision electronic map data according to the positioning information of the object to be matched is performed by the positioning information matching unit 81.

In an implementation, referring to fig. 10 and 8, the positioning information matching unit 81 in fig. 8 may further include:

the data determining subunit 101 is adapted to obtain, according to the positioning position included in the positioning information of the object to be matched, road data in a second geographical range preset around the object to be matched from the loaded common electronic map data, and lane data in the second geographical range preset around the object to be matched from the loaded high-precision electronic map data;

a candidate matching road and candidate matching lane screening subunit 102, adapted to screen candidate matching roads and candidate matching lanes from the road data and lane data according to the positioning position and heading angle included in the positioning information of the object to be matched;

the matching point, matching road and matching lane determining subunit 103 is adapted to determine, according to the location position and heading angle included in the location information of the object to be matched, common map matching points and matching roads and high-precision map matching points and matching lanes of the object to be matched in the candidate matching road and candidate matching lane.

In an implementation, referring to fig. 10 and 11 in combination, the matching point, the matching road, and the matching lane determining subunit 103 in fig. 10 may further include:

The candidate ordinary map matching point determining module 111 is adapted to obtain the shortest distance from the positioning position included in the positioning information of the object to be matched to each road section of the candidate matching road, and determine the point corresponding to the shortest distance as the candidate ordinary map matching point of the road section;

the candidate high-precision map matching point determining module 112 is adapted to obtain the shortest distance from the positioning position included in the positioning information of the object to be matched to each lane segment of the candidate matching lane, and determine the point corresponding to the shortest distance as the candidate high-precision map matching point of the lane segment;

the weight determining module 113 of the candidate ordinary map matching point obtains the weight of each road segment and the corresponding candidate ordinary map matching point according to the shortest distance of each road segment of the candidate matching road, the direction of each road segment, and the positioning information including the positioning position, the heading and the history matching road;

the weight determining module 114 of the candidate high-precision map matching point is adapted to obtain the weight of each lane segment and the corresponding candidate high-precision map matching point according to the shortest distance of each lane segment of the candidate matching lane, the direction of each lane segment, and the positioning information including the positioning position, the heading and the history matching lane;

The ordinary map matching point and matching road determining module 115 is adapted to obtain an ordinary map matching point and a matching road according to the weight of the alternative ordinary map matching point and the connection relation between the alternative ordinary road where the alternative ordinary map matching point is located and the history matching road;

the high-precision map matching point and matching lane determining module 116 is adapted to obtain the high-precision map matching point and the matching lane according to the weight of the candidate high-precision map matching point and the connection relation between the candidate matching lane where the candidate high-precision map matching point is located and the history matching lane.

In an implementation, referring to fig. 11 and 12, the high-precision map matching point and matching lane determining module 116 in fig. 11 may further include:

the ranking sub-module 121 of candidate high-precision map matching points is adapted to rank the candidate high-precision map matching points in order of from small to large in weight, starting from the candidate high-precision map matching point ranked first, finding the candidate high-precision map matching point located in the history matching lane as an ending point;

the alternative high-precision map matching point execution sub-module 122 is adapted to perform the following steps for each alternative high-precision map matching point ordered before the termination point: judging whether the candidate high-precision map matching point is positioned in a history matching lane or not, if so, marking the candidate high-precision map matching point as a preferred point, if not, judging whether the candidate lane in which the candidate high-precision map matching point is positioned has a connection relation with the history matching lane, if so, marking the candidate high-precision map matching point as a preferred point, otherwise, ending the processing of the candidate high-precision map matching point; if none of the candidate high-precision map matching points sequenced before the termination point is marked as a preferred point, or more than one of the candidate high-precision map matching points sequenced before the termination point is marked as a preferred point, and the sum of the marked number and the number of the candidate high-precision map matching points marked as the preferred points in the executed map matching process does not reach a preset threshold value, taking the candidate high-precision map matching points and the candidate matching lanes corresponding to the termination point as the high-precision map matching points and the matching lanes; and if more than one candidate high-precision map matching point which is sequenced before the termination point is marked as a preferred point, and the sum of the marked number and the number of the candidate high-precision map matching points marked as the preferred point in the executed map matching process reaches a preset threshold value, taking the candidate high-precision map matching points and the candidate matching lanes corresponding to the preferred point as the high-precision map matching points and the matching lanes.

In a specific implementation, referring to fig. 11 and 13, the alternative general map matching point weight determining module 113 in fig. 11 may further include:

the alternative common map matching point sorting sub-module 131 is adapted to sort the alternative common map matching points in order of from small to large in weight, starting from the alternative common map matching point with the first sorting, and finding the alternative common map matching point located on the history matching road as an ending point;

the alternative common map matching point execution sub-module 132 is adapted to execute the following steps for each alternative common map matching point ordered before the termination point: judging whether the candidate common map matching point has a connection relation with the history matching point, if so, taking the candidate common map matching point and the candidate matching road corresponding to the candidate common map matching point as the common map matching point and the matching road, if not, judging whether the road where the candidate common map matching point is positioned and the road where the history matching point is positioned are U-shaped roads, if so, ending the processing of the candidate common map matching point, if not, judging whether the road where the candidate common map matching point is positioned and the road where the history matching point is positioned are parallel roads, if so, selecting the candidate common map matching point and the candidate matching road corresponding to the candidate common map matching point as the common map matching point and the matching road, and if not, ending the processing of the candidate common map matching point; and if the common map matching point and the matching road are not determined at the end point, taking the alternative common map matching point and the alternative matching road corresponding to the end point as the common map matching point and the matching road.

The specific implementation and beneficial effects of the map matching device in the embodiment of the present invention may refer to the map matching method in the embodiment of the present invention, and will not be described herein.

The embodiment of the invention also provides a computer readable storage medium, wherein computer instructions are stored on the computer readable storage medium, and the computer instructions execute any step of the map matching method when running. The computer readable storage medium may be an optical disc, a mechanical hard disc, a solid state disc, or the like.

The embodiment of the invention also provides a terminal, which comprises a memory and a processor, wherein the memory stores computer instructions capable of running on the processor, and the processor can execute any step of the map matching device when running the computer instructions. The terminal may be a smart phone, a tablet computer, a car navigation device, or other suitable terminals.

Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention should be assessed accordingly to that of the appended claims.

Claims

1. A map matching method, comprising:

According to the positioning information of the object to be matched, determining common map matching points and matching roads of the object to be matched from loaded common electronic map data, and determining high-precision map matching points and matching lanes of the object to be matched from loaded high-precision electronic map data;

if the matching lane of the object to be matched is not empty, judging whether the positioning position contained in the positioning information of the object to be matched is located in the matching lane, if so, determining the high-precision positioning matching point as a map matching point of the object to be matched, and if not, comparing the distances between the high-precision map matching point and the common map matching point to the positioning position of the object to be matched;

if the distance between the high-precision map matching points is smaller than that between the common map matching points, determining the high-precision map matching points and the matching lanes as map matching information of the objects to be matched;

and if the distance between the high-precision map matching points is larger than that between the common map matching points, determining the common map matching points and the matching roads as map matching information of the objects to be matched.

2. The map matching method according to claim 1, characterized in that the method further comprises:

and if the matching lane of the object to be matched is empty and the matching road is not empty, or if the high-precision map matching point and the matching lane of the object to be matched are both empty, determining the common map matching point and the matching road as map matching information of the object to be matched.

3. The map matching method according to any one of claims 1-2, characterized in that the method further comprises:

judging whether the distance from the object to be matched to the boundary of the loaded common electronic map data is smaller than a preset first distance threshold value or not and whether the distance from the boundary of the loaded high-precision electronic map data is smaller than a second distance threshold value or not according to the positioning position included in the positioning information of the object to be matched;

if so, loading common electronic map data and high-precision electronic map data in a first geographical range preset around the positioning position of the object to be matched, and then executing the steps of determining common map matching points and matching roads of the object to be matched from the loaded common electronic map data and determining high-precision map matching points and matching lanes of the object to be matched from the loaded high-precision electronic map data according to the positioning information of the object to be matched;

if not, executing the steps of determining the common map matching points and the matching roads of the object to be matched from the loaded common electronic map data and determining the high-precision map matching points and the matching lanes of the object to be matched from the loaded high-precision electronic map data according to the positioning information of the object to be matched.

4. A method according to claim 3, wherein the determining common map matching points and matching roads of the object to be matched from the loaded common electronic map data and determining high-precision map matching points and matching lanes of the object to be matched from the loaded high-precision electronic map data according to the positioning information of the object to be matched specifically comprises:

according to the positioning position included in the positioning information of the object to be matched, road data in a second geographical range preset around the object to be matched is obtained from loaded common electronic map data, and lane data in the second geographical range preset around the object to be matched is obtained from loaded high-precision electronic map data;

screening an alternative matching road and an alternative matching lane from the road data and the lane data according to the positioning position and the course angle included in the positioning information of the object to be matched;

and determining common map matching points and matching roads, high-precision map matching points and matching lanes of the objects to be matched in the candidate matching roads and the candidate matching lanes according to the positioning positions and the course angles included in the positioning information of the objects to be matched.

5. The method according to claim 4, wherein the determining common map matching points and matching roads and high-precision map matching points and matching lanes of the object to be matched in the candidate matching roads and candidate matching lanes according to the location position and heading angle included in the location information of the object to be matched specifically includes:

acquiring the shortest distance from a positioning position of an object to be matched to each road section of an alternative matching road, and determining a point corresponding to the shortest distance as an alternative common map matching point of the road section;

acquiring the shortest distance from a positioning position of an object to be matched to each lane segment of an alternative matching lane, and determining a point corresponding to the shortest distance as an alternative high-precision map matching point of the lane segment;

according to the shortest distance of each road section of the alternative matching road, the direction of each road section and the positioning information including the positioning position, the heading and the history matching road, obtaining the weight of each road section and the corresponding alternative common map matching point;

obtaining the weight of each lane segment and the corresponding alternative high-precision map matching point according to the shortest distance of each lane segment of the alternative matching lane, the direction of each lane segment and the positioning information including the positioning position, the heading and the history matching lane;

Obtaining the common map matching points and the matching roads according to the weights of the common map matching points and the connection relation between the common roads and the history matching roads;

and obtaining the high-precision map matching point and the matching lane according to the weight of the candidate high-precision map matching point and the connection relation between the candidate matching lane where the candidate high-precision map matching point is located and the history matching lane.

6. The method according to claim 5, wherein obtaining the high-precision map matching point and the matching lane according to the weight of the high-precision map matching point and the connection relation between the candidate matching lane where the high-precision map matching point is located and the history matching lane, specifically comprises:

sequencing the candidate high-precision map matching points according to the sequence from small weight to large weight, starting from the candidate high-precision map matching point sequenced first, and finding the candidate high-precision map matching point positioned in the history matching lane as an ending point;

the following steps are performed for each alternative high-precision map matching point ordered before the termination point:

judging whether the candidate high-precision map matching point is positioned in a history matching lane or not, if so, marking the candidate high-precision map matching point as a preferred point, if not, judging whether the candidate lane in which the candidate high-precision map matching point is positioned has a connection relation with the history matching lane, if so, marking the candidate high-precision map matching point as a preferred point, otherwise, ending the processing of the candidate high-precision map matching point;

If none of the candidate high-precision map matching points sequenced before the termination point is marked as a preferred point, or more than one of the candidate high-precision map matching points sequenced before the termination point is marked as a preferred point, and the sum of the marked number and the number of the candidate high-precision map matching points marked as the preferred points in the executed map matching process does not reach a preset threshold value, taking the candidate high-precision map matching points and the candidate matching lanes corresponding to the termination point as the high-precision map matching points and the matching lanes;

and if more than one candidate high-precision map matching point which is sequenced before the termination point is marked as a preferred point, and the sum of the marked number and the number of the candidate high-precision map matching points marked as the preferred point in the executed map matching process reaches a preset threshold value, taking the candidate high-precision map matching points and the candidate matching lanes corresponding to the preferred point as the high-precision map matching points and the matching lanes.

7. The method according to claim 5, wherein the obtaining the common map matching point and the matching road according to the weight of the candidate common map matching point and the connection relation between the candidate common road where the candidate common map matching point is located and the history matching road specifically comprises:

The method comprises the steps of sorting the candidate ordinary map matching points according to the order of the weights from small to large, starting from the first candidate ordinary map matching point, and finding the candidate ordinary map matching point positioned on the history matching road as an ending point;

the following steps are performed for each alternative common map matching point ordered before the termination point:

judging whether the candidate common map matching point has a connection relation with the history matching point, if so, taking the candidate common map matching point and the candidate matching road corresponding to the candidate common map matching point as the common map matching point and the matching road, if not, judging whether the road where the candidate common map matching point is positioned and the road where the history matching point is positioned are U-shaped roads, if so, ending the processing of the candidate common map matching point, if not, judging whether the road where the candidate common map matching point is positioned and the road where the history matching point is positioned are parallel roads, if so, selecting the candidate common map matching point and the candidate matching road corresponding to the candidate common map matching point as the common map matching point and the matching road, and if not, ending the processing of the candidate common map matching point;

and if the common map matching point and the matching road are not determined at the end point, taking the alternative common map matching point and the alternative matching road corresponding to the end point as the common map matching point and the matching road.

8. A map matching apparatus, comprising:

the positioning information matching unit is suitable for determining common map matching points and matching roads of the object to be matched from loaded common electronic map data and determining high-precision map matching points and matching lanes of the object to be matched from loaded high-precision electronic map data according to the positioning information of the object to be matched;

a map matching information determination unit comprising:

the positioning position judging and comparing subunit is suitable for judging whether the positioning position contained in the positioning information of the object to be matched is positioned in the matching lane or not if the matching lane of the object to be matched is not empty, if so, determining the high-precision positioning matching point as a map matching point of the object to be matched, and if not, comparing the distances between the high-precision map matching point and the common map matching point to the positioning position of the object to be matched;

the matching information determining subunit is suitable for determining the high-precision map matching point and the matching lane as the map matching information of the object to be matched if the distance of the high-precision map matching point is smaller than that of the common map matching point; and if the distance between the high-precision map matching points is larger than that between the common map matching points, determining the common map matching points and the matching roads as map matching information of the objects to be matched.

9. A computer readable storage medium having stored thereon computer instructions, which when run perform the steps of the map matching method of any of claims 1 to 7.

10. A terminal comprising a memory and a processor, the memory having stored thereon computer instructions executable on the processor, wherein the processor, when executing the computer instructions, performs the steps of the map matching method of any of claims 1 to 7.