CN111381263B - Positioning method, positioning device, electronic equipment and storage medium - Google Patents
Positioning method, positioning device, electronic equipment and storage medium Download PDFInfo
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- CN111381263B CN111381263B CN201811626608.XA CN201811626608A CN111381263B CN 111381263 B CN111381263 B CN 111381263B CN 201811626608 A CN201811626608 A CN 201811626608A CN 111381263 B CN111381263 B CN 111381263B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Abstract
The application relates to a positioning method, a positioning device, electronic equipment and a storage medium. The method comprises the following steps: acquiring first position information of a vehicle; when the vehicle is judged to be driven to the target bifurcation junction according to the first position information, acquiring the edge position information of each bifurcation road corresponding to the target bifurcation junction; acquiring a first driving parameter of a vehicle in the driving process of a target bifurcation; calculating to obtain second position information according to the first position information and the first running parameter; and positioning the vehicle according to the matching result of the second position information and the edge position information. The positioning method, the positioning device, the electronic equipment and the storage medium can improve the positioning accuracy.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a positioning method, an apparatus, an electronic device, and a storage medium.
Background
With the development of society and economy, vehicles are more and more. In the process of vehicle driving, the vehicle is positioned to obtain the position information of the vehicle, so that whether the vehicle is driven on a correct road can be judged. Especially at some smaller bifurcation junctions, it is more important to obtain the correct position of the vehicle.
However, in the conventional vehicle positioning technology, the vehicle is often positioned at an incorrect position due to poor signals or low positioning accuracy, and the positioning accuracy is low.
Disclosure of Invention
In view of the above, it is necessary to provide a positioning method, an apparatus, an electronic device and a storage medium capable of accurately positioning.
A method of positioning, the method comprising:
acquiring first position information of a vehicle;
when the vehicle is judged to be driven to a target bifurcation junction according to the first position information, acquiring the edge position information of each bifurcation road corresponding to the target bifurcation junction;
acquiring a first driving parameter of the vehicle in the driving process of a target bifurcation;
calculating to obtain second position information according to the first position information and the first running parameter;
and positioning the vehicle according to the matching result of the second position information and the edge position information.
In one embodiment, the obtaining edge position information of each bifurcation road corresponding to the target bifurcation junction when the vehicle is judged to be driven to the target bifurcation junction according to the first position information comprises:
when a bifurcation junction exists in a preset road section range corresponding to the first position information and an included angle formed between each bifurcation road corresponding to the bifurcation junction is smaller than a preset angle, judging that the vehicle runs to a target bifurcation junction;
and when the vehicle is judged to run to the target bifurcation, acquiring the edge position information of each bifurcation road corresponding to the target bifurcation.
In one embodiment, the obtaining edge position information of each bifurcation road corresponding to the target bifurcation junction when the vehicle is judged to be driven to the target bifurcation junction according to the first position information comprises:
when the vehicle is judged to be driven to a target bifurcation junction according to the first position information, acquiring sub-edge position information of an edge reference point contained in each bifurcation road corresponding to the target bifurcation junction;
and generating edge position information of each branched road according to the sub edge position information.
In one embodiment, the positioning the vehicle according to the matching result of the second position information and the edge position information includes:
and when the second position information accords with a preset track rule, positioning the vehicle according to a matching result of the second position information and the edge position information.
In one embodiment, the positioning the vehicle according to the matching result of the second position information and the edge position information includes:
matching the second position information with each edge position information;
when edge position information matched with the second position information exists, acquiring the edge position information matched with the second position information as first target edge position information;
and positioning the vehicle according to the second position information and the first target edge position information.
In one embodiment, the method further comprises:
when the second position information is not matched with each piece of edge position information, comparing the second position information with each piece of edge position information to obtain each piece of difference value information;
when the minimum difference information is smaller than the difference threshold, taking the edge position information corresponding to the minimum difference information as second target edge position information;
and positioning the vehicle according to the second position information and the second target edge position information.
In one embodiment, after the comparing the second location information with the edge location information to obtain difference location information when the second location information does not match the edge location information, the method further includes:
when the difference position information is larger than the difference threshold value, acquiring third position information of the vehicle according to a navigation system, and determining position range information according to the third position information;
acquiring edge position information of each road corresponding to the position range information, and acquiring second driving parameters of the vehicle within preset time;
and positioning the vehicle according to the third position information, the second driving parameter and the edge position information of each road corresponding to the position range information.
A positioning device, the device comprising:
the first position information acquisition module is used for acquiring first position information of the vehicle;
the edge position information acquisition module is used for acquiring the edge position information of each bifurcation road corresponding to the target bifurcation junction when judging that the vehicle runs to the target bifurcation junction according to the first position information;
the first running parameter acquisition module is used for acquiring a first running parameter of the vehicle in the running process of the target bifurcation;
the calculation module is used for calculating to obtain second position information according to the first position information and the first running parameter;
and the positioning module is used for positioning the vehicle according to the matching result of the second position information and the edge position information.
An electronic device comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the positioning method when executing the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned positioning method.
According to the positioning method, the positioning device, the electronic equipment and the storage medium, when the vehicle is judged to drive to the target bifurcation junction according to the first position information of the vehicle, the edge position information of each bifurcation road corresponding to the target bifurcation junction is obtained, the first driving parameter of the vehicle is obtained, the second position information is obtained through calculation according to the first edge position information and the first driving parameter, the vehicle can be positioned by matching the second position information with the edge position information, and the positioning accuracy of the vehicle when the signal is poor or the positioning accuracy is not high is improved.
Drawings
FIG. 1 is a diagram of an application environment of a positioning method in one embodiment;
FIG. 2 is a flow diagram illustrating a positioning method in one embodiment;
FIG. 3 is a schematic diagram of a target bifurcation junction in one embodiment;
FIG. 4 is a schematic flow chart of the locating step in one embodiment;
FIG. 5 is a schematic flow chart of the positioning step in another embodiment;
FIG. 6 is a schematic flow chart of the positioning step in another embodiment;
FIG. 7 is a block diagram of the positioning device in one embodiment;
FIG. 8 is a diagram illustrating the internal architecture of an electronic device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The positioning method provided by the embodiment of the application can be applied to the application environment shown in fig. 1. Wherein an electronic device 102 in the vehicle communicates with a navigation satellite 104 via satellite signals. After communicating with the navigation satellite 104, the electronic device 102 acquires first position information of the vehicle; when the vehicle is judged to be driven to the target bifurcation junction according to the first position information, acquiring the edge position information of each road corresponding to the target bifurcation junction; acquiring a first driving parameter of a vehicle in the driving process of a target bifurcation; calculating to obtain second position information according to the first position information and the first running parameter; and positioning the vehicle according to the matching result of the second position information and the edge position information. The electronic device 102 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices, and the navigation satellite 104 may be, but is not limited to, a satellite of a satellite system such as a global system, a regional system, an augmentation system, and the like.
In one embodiment, as shown in fig. 2, there is provided a positioning method comprising the steps of:
in step 202, first position information of a vehicle is acquired.
The first position information is position information for determining whether the vehicle is driven to the target bifurcation, and may be position information before the target bifurcation or within the range of the target bifurcation. The location information may be, among other things, the longitude, latitude, altitude, direction, etc. of the location. As shown in fig. 3, the target bifurcation road refers to an intersection where a bifurcation road exists.
The electronic device may obtain first location information of the vehicle via a navigation satellite system. For example, the Navigation Satellite System may be a four-piece Global System such as a GPS Satellite System (Global Positioning System), a BDS Satellite System (BeiDou Navigation Satellite System), a GLONASS Satellite System (Global Navigation Satellite System), and a GAILEO Satellite System (Galileo Satellite Navigation System), a QZSS Satellite System (quick-zero Navigation System, Quasi-Zenith Satellite System), an IRNSS (India Regional Navigation System), a WASS Satellite System (Wide Area Augmentation System), a GASS Satellite System (Multi-Functional Satellite Navigation System), an Enhanced Multi-function Satellite System (Enhanced Global Navigation System), and an European Navigation Service Enhanced Navigation System (EGSONOS), GPS-assisted geostationary orbit enhanced navigation system), and the like, without limitation.
It will be appreciated that there are some situations where the lane at the target bifurcation is not clear or where there is an error in the positioning of the navigation system. Therefore, in order to acquire more accurate first position information, the electronic device may also acquire the first position information of the vehicle through the navigation system and the parameter of traveling on the preset road section before reaching the target bifurcation junction. For example, in a preset road section 300 meters before the target bifurcation is reached, the approximate range of the vehicle is obtained according to the positioning of the navigation system, then the running parameters of the vehicle in the preset road section 300 meters are obtained, and more accurate first position information can be obtained according to the approximate range and the running parameters of the vehicle.
And step 204, when the vehicle is judged to be driven to the target bifurcation junction according to the first position information, acquiring the edge position information of each bifurcation road corresponding to the target bifurcation junction.
It is understood that each road is surrounded by two edge lines, and the edge position information refers to two edge lines of the road, that is, information of edge positions. The edge location information may be the longitude, latitude, altitude, road strike, etc. of the road edge location.
A map database is provided in an electronic device on a vehicle, and the map database stores edge position information of each road and position information of each target branch intersection. After first position information of the vehicle is acquired, a position corresponding to the first position information is used as a first position, and the first position information is compared with position information of a target bifurcation port closest to the first position. And judging that the vehicle runs to the target bifurcation junction according to the comparison result.
The target bifurcation road junction is formed by converging a plurality of bifurcation roads, and the target bifurcation road junction and the plurality of bifurcation roads have corresponding relation. And when the vehicle is judged to run to the target bifurcation junction according to the first position information, acquiring the edge position information of each bifurcation road corresponding to the target bifurcation junction.
The first driving parameter refers to a parameter generated by the vehicle during driving, such as speed, time, acceleration, vehicle steering, and the like. Wherein, the speed can be obtained by a speed sensor, the time can be obtained by a clock of the electronic device, the acceleration can be obtained by an acceleration sensor, and the vehicle steering can be obtained by a gyroscope in the electronic device.
And acquiring a first driving parameter of the vehicle in the driving process of the target branch junction after judging that the vehicle drives to the target branch junction according to the first position information.
And step 208, calculating to obtain second position information according to the first position information and the first running parameters.
The second position information refers to position information calculated after the vehicle is determined to travel to the target bifurcation junction. The location information may be, among other things, the longitude, latitude, altitude, direction, etc. of the location. As shown in fig. 3, 302 represents the location where the first location information is located, and 304 represents the location where the second location information is located.
For example, the first location information may be a first longitude, a first latitude, a first altitude, a first direction, and the first travel parameter may be a speed, a time, an acceleration, a vehicle steering. And positioning a first position where the first position information is located according to a first longitude and a first latitude of the first position information, taking a position where the second position information to be calculated is located as a second position, calculating the distance from the first position to the second position of the vehicle according to the speed and time of the first driving parameter, and simulating the driving track of the vehicle according to the first altitude, the acceleration and the steering of the vehicle to further obtain the second position information.
And step 210, positioning the vehicle according to the matching result of the second position information and the edge position information.
And obtaining second position information, namely obtaining information such as longitude, latitude, altitude, direction and the like, and matching the second position information with the edge position information of each branched road corresponding to the target branched road junction. For example, when the longitude and latitude of the second location information are within the range of the edge location information of the divergent road, the altitude is matched, and the direction of the vehicle is consistent with the direction of the road, it is determined that the second location information is matched with the edge location information, a matching result is generated, and the vehicle is positioned according to the matching result.
When the second location information does not match or has an error with the edge location information, a mismatch reason and a prompt message, such as "warning: and the direction of the vehicle is not accurate, a matching result is generated, and the vehicle is positioned according to the matching result.
In this embodiment, when it is determined that the vehicle travels to the target intersection according to the first position information of the vehicle, the edge position information of each road corresponding to the target intersection is obtained and the first travel parameter of the vehicle is obtained, the second position information is obtained by calculation according to the first edge position information and the first travel parameter, and the vehicle can be positioned by matching the second position information with the edge position information, so that the positioning accuracy of the vehicle when the signal is poor or the positioning accuracy is not high is improved.
In one embodiment, when it is determined that the vehicle has traveled to the target bifurcation junction based on the first position information, obtaining edge position information of each road corresponding to the target bifurcation junction includes: when a bifurcation junction exists in a preset road section range corresponding to the first position information and an included angle formed between each bifurcation road corresponding to the bifurcation junction is smaller than a preset angle, judging that the vehicle runs to a target bifurcation junction; and when the vehicle is judged to run to the target bifurcation junction, acquiring the edge position information of each road corresponding to the target bifurcation junction.
In the traditional vehicle positioning process, certain errors exist in positioning, particularly in some small intersections, the positioning is easy to be carried out on wrong branches, the problems of time waste, cost improvement and the like of drivers can be caused, and even traffic accidents can be caused. Therefore, it is more important to position the small road junction, i.e. the branch road junction in which the included angle formed between the branch roads is smaller than the preset angle.
The preset road section corresponding to the first position information refers to a road section within a preset range of the position where the first position information is located, such as a road section within ten meters of the radius of the position where the vehicle is located.
And comparing the preset road section range corresponding to the first position information with the range of the bifurcation junction, and judging that the bifurcation junction exists in the preset road section range corresponding to the first position information when the preset road section range corresponding to the first position information is crossed with the range of the bifurcation junction, and judging that the vehicle runs to the target bifurcation junction when the included angle formed between the bifurcation roads corresponding to the bifurcation junction is smaller than the preset angle.
In this embodiment, when the bifurcation junction exists in the preset road section range corresponding to the first position information and the included angle formed between the bifurcation roads corresponding to the bifurcation junction is smaller than the preset angle, it is determined that the vehicle runs to the target bifurcation junction, and the vehicle runs to the target bifurcation junction and is positioned, so that the positioning accuracy of the vehicle at the target bifurcation junction can be improved.
In one embodiment, when it is determined that the vehicle travels to the target bifurcation, obtaining edge position information of each bifurcation road corresponding to the target bifurcation comprises: when the vehicle is judged to be driven to the target bifurcation junction according to the first position information, acquiring sub-edge position information of edge reference points contained in each bifurcation road corresponding to the target bifurcation junction; and generating edge position information of each branched road according to the sub edge position information.
The edge reference point refers to a point of an edge position of the road. The sub-edge position information refers to position information of an edge reference point. The sub-edge location information of the edge reference point may be a longitude, a latitude, an altitude, and the like of the edge reference point. The sub-edge location information of the edge reference point included in each of the divergent roads may generate edge location information of each of the divergent roads.
In this embodiment, the edge position information of each bifurcation road is generated by obtaining the sub-edge position information of the edge reference point included in each bifurcation road, so that the vehicle can be positioned more accurately in the middle of the edge positions of the bifurcation road.
In one embodiment, the positioning the vehicle according to the matching result of the second position information and the edge position information includes: and when the second position information accords with the preset track rule, positioning the vehicle according to the matching result of the second position information and the edge position information.
The trajectory rule refers to a rule forming a trajectory of the vehicle, such as "the vehicle cannot go backward on a highway", "the vehicle cannot turn left or right on a straight road", "the vehicle cannot turn more than 60 degrees", and the like. During the running process of the vehicle, the vehicle should accord with the preset track rule, that is, each second position information is calculated according to the first position information and the first running parameter, and the generated track should accord with the preset track rule. And when the second position information accords with the preset track rule, positioning the vehicle according to the matching result of the second position information and the edge position information.
When the second position information does not conform to the preset trajectory rule, a prompt message such as "please note that your vehicle is about to exit the road" may be generated, or new second position information may be recalculated according to the first position information and the first driving parameter, which is not limited to this.
In this embodiment, when the second position information conforms to the preset trajectory rule, the vehicle is positioned according to the matching result of the second position information and the edge position information, so that the vehicle is prevented from being positioned on an incorrect branch road when the second position information does not conform to the trajectory rule, and the accuracy of vehicle positioning is improved.
In one embodiment, the positioning the vehicle according to the matching result of the second position information and the edge position information includes:
and 402, matching the second position information with each edge position information.
And after second position information is obtained through calculation according to the first position information and the first driving parameters, matching the second position information with edge position information of each branched road corresponding to the target branched road.
And step 404, when edge position information matched with the second position information exists, acquiring the edge position information matched with the second position information as the first target edge position information.
The first target edge position information refers to edge position information that matches the second position information. When there is edge position information that matches the second position information, the edge position information that matches the second position information is acquired as first target edge position information. That is, the second position information is located in the middle of the divergent road corresponding to the first target edge position information.
And 406, positioning the vehicle according to the second position information and the first target edge position information.
And positioning the vehicle on the divergent road corresponding to the first target edge position according to the second position information and the first target edge position, so that the accuracy of vehicle positioning is improved.
In one embodiment, the positioning method further includes:
The difference information refers to information of a difference between the second position information and the edge position information. When the second position information does not match each of the edge position information, it indicates that the vehicle is not traveling on the divergent road or that there is an error in the calculated second position information. And comparing the second position information with each piece of edge position information to obtain each piece of difference value information.
And step 504, when the minimum difference information is smaller than the difference threshold, taking the edge position information corresponding to the minimum difference information as second target edge position information.
The minimum difference information is the difference information between the position where the second position information is located and the diverging road closest to the second position information. The user may preset the difference threshold, or obtain the difference threshold according to a preset difference threshold in the electronic device, which is not limited to this. When the minimum difference information is smaller than the difference threshold value, the fact that the vehicle does not run on the bifurcation road or the calculated second position information has a small error is indicated, and the driver can obtain the fact that the vehicle runs on the bifurcation road according to own judgment. Therefore, the edge position information corresponding to the minimum difference information can be used as the second target edge position information.
And step 506, positioning the vehicle according to the second position information and the second target edge position information.
When the calculated second position information has a small error, the vehicle is positioned according to the second position information and the second target edge position, the situation that the vehicle cannot be positioned or the vehicle is repositioned when the vehicle is positioned with the small error is avoided, the relation between the positioning error and the electronic equipment resource is balanced, and the electronic equipment resource is saved.
In one embodiment, when the second location information does not match the edge location information, after comparing the second location information with the edge location information and obtaining difference location information, the method further includes:
and step 602, when the difference value position information is greater than the difference value threshold value, acquiring third position information of the vehicle according to the navigation system, and determining position range information according to the third position information.
The third position information refers to position information of a position where the vehicle is located acquired by the navigation system when the difference position information is greater than the difference threshold value. When the navigation system positions the vehicle, the positioning error exists because of low precision. Therefore, the position range information can be determined from the accuracy of the navigation system and the third position information.
For example, when the GPS navigation system locates the vehicle, the third position information is N66 ° 33 '6.38 ° north latitude, E23 ° 27' 35.30 ° east longitude, and the accuracy of the GPS navigation system is 10m, the position range information may be determined as the information within a range of a radius of 10m around the position of N66 ° 33 '6.38 ° north latitude and E23 ° 27' 35.30 "east longitude.
When the difference position information is larger than the difference threshold, it indicates that the vehicle is not driven on the divergent road or that there is a large error in the calculated second position information. When the difference position information is larger than the difference threshold value, the driver cannot judge which branched road the vehicle runs on, and the calculated second position information has a large error. Therefore, the approximate position of the vehicle can be obtained by acquiring the third position information of the vehicle from the navigation system and determining the position range information from the third position information.
According to the position range information, the edge position information of each road in the corresponding range can be obtained, and a second driving parameter of the vehicle in the preset time is obtained.
And 606, positioning the vehicle according to the edge position information of each road corresponding to the third position information, the second driving parameter and the position range information.
Calculating fourth position information of the vehicle according to the third position information and the second driving parameters; matching the fourth position information with the edge position information of each road corresponding to the position range information to obtain a matching result; and positioning the vehicle according to the matching result.
In this embodiment, when the difference information is greater than the difference threshold, the third position information of the vehicle is obtained and the position range information is determined according to the navigation system, the edge position information of each road corresponding to the position range information is obtained, the second driving parameter of the vehicle is obtained, and the vehicle is positioned according to the third position information, the second driving parameter and the edge position information of each road corresponding to the position range information, so that the vehicle is prevented from being positioned on a wrong road when the difference information is too large, and the positioning accuracy is improved.
It should be understood that although the various steps in the flowcharts of fig. 2, 3-6 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least some of the steps in fig. 2, 3-6 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 7, there is provided a positioning device 700 comprising: a first position information acquisition module 702, an edge position information acquisition module 704, a first travel parameter acquisition module 706, a calculation module 708, and a positioning module 710, wherein:
the first position information acquiring module 702 is configured to acquire first position information of a vehicle.
The edge position information obtaining module 704 is configured to obtain edge position information of each bifurcation road corresponding to the target bifurcation junction when it is determined that the vehicle travels to the target bifurcation junction according to the first position information.
The first driving parameter obtaining module 706 is configured to obtain a first driving parameter of the vehicle during driving at the target intersection.
And a calculating module 708, configured to calculate second position information according to the first position information and the first driving parameter.
And the positioning module 710 is configured to position the vehicle according to the matching result of the second position information and the edge position information.
In the embodiment, when the vehicle is judged to drive to the target bifurcation junction according to the first position information of the vehicle, the edge position information of each road corresponding to the target bifurcation junction is obtained, the first driving parameter of the vehicle is obtained, the second position information is obtained through calculation according to the first edge position information and the first driving parameter, the vehicle can be positioned by matching the second position information with the edge position information, and the positioning accuracy of the vehicle when the signal is poor or the positioning accuracy is not high is improved.
In one embodiment, the edge position information obtaining module 704 is further configured to determine that the vehicle travels to the target bifurcation when the bifurcation exists in the preset road segment range corresponding to the first position information and an included angle formed between each bifurcation road corresponding to the bifurcation is smaller than a preset angle; when the vehicle is judged to drive to the target bifurcation junction, the edge position information of each bifurcation road corresponding to the target bifurcation junction is obtained.
In one embodiment, the edge position information obtaining module 704 is further configured to obtain sub-edge position information of an edge reference point included in each of the divergent roads corresponding to the target divergent intersection when it is determined that the vehicle travels to the target divergent intersection according to the first position information; and generating edge position information of each branched road according to the sub edge position information.
In one embodiment, the positioning module 710 is further configured to position the vehicle according to a matching result of the second position information and the edge position information when the second position information meets the preset track rule.
In one embodiment, the positioning module 710 is further configured to match the second location information with each edge location information; when edge position information matched with the second position information exists, acquiring the edge position information matched with the second position information as first target edge position information; and positioning the vehicle according to the second position information and the first target edge position information.
In an embodiment, the positioning module 710 is further configured to compare the second location information with each edge location information to obtain each difference information when the second location information does not match each edge location information; when the minimum difference information is smaller than the difference threshold, taking the edge position information corresponding to the minimum difference information as second target edge position information; and positioning the vehicle according to the second position information and the second target edge position information.
In one embodiment, the positioning module 710 is further configured to obtain third position information of the vehicle according to the navigation system when the difference position information is greater than the difference threshold, and determine position range information according to the third position information; acquiring edge position information of each road corresponding to the position range information, and acquiring second driving parameters of the vehicle within preset time; and positioning the vehicle according to the third position information, the second driving parameter and the edge position information of each road corresponding to the position range information.
For the specific definition of the positioning device, reference may be made to the above definition of the positioning method, which is not described herein again. The modules in the positioning device can be wholly or partially implemented by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the electronic device, or can be stored in a memory in the electronic device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, an electronic device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 8. The electronic device comprises a processor, a memory, a network interface, a display screen and an input device which are connected through a system bus. Wherein the processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic equipment comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the electronic device is used for connecting and communicating with an external terminal through a network. The computer program is executed by a processor to implement a positioning method. The display screen of the electronic equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the electronic equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the structure shown in fig. 8 is a block diagram of only a portion of the structure relevant to the present disclosure, and does not constitute a limitation on the electronic device to which the present disclosure may be applied, and that a particular electronic device may include more or less components than those shown, or combine certain components, or have a different arrangement of components.
In one embodiment, an electronic device is provided, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the positioning method when executing the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the above-mentioned positioning method.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.
Claims (10)
1. A method of positioning, the method comprising:
acquiring first position information of a vehicle;
when the vehicle is judged to be driven to a target bifurcation junction according to the first position information, acquiring the edge position information of each bifurcation road corresponding to the target bifurcation junction;
acquiring a first driving parameter of the vehicle in the driving process of a target bifurcation;
calculating to obtain second position information according to the first position information and the first running parameter;
matching the second position information with each edge position information;
when the second position information is not matched with each piece of edge position information, comparing the second position information with each piece of edge position information to obtain each piece of difference value information;
when the minimum difference information is smaller than the difference threshold, taking the edge position information corresponding to the minimum difference information as second target edge position information;
and positioning the vehicle according to the second position information and the second target edge position information.
2. The method according to claim 1, wherein the obtaining of the edge position information of each diverging road corresponding to a target diverging intersection when it is determined from the first position information that the vehicle has traveled to the target diverging intersection, comprises:
when a bifurcation junction exists in a preset road section range corresponding to the first position information and an included angle formed between each bifurcation road corresponding to the bifurcation junction is smaller than a preset angle, judging that the vehicle runs to a target bifurcation junction;
and when the vehicle is judged to run to the target bifurcation, acquiring the edge position information of each bifurcation road corresponding to the target bifurcation.
3. The method according to claim 1, wherein said obtaining edge position information of each diverging road corresponding to a target diverging intersection when it is determined from the first position information that the vehicle has traveled to the target diverging intersection, comprises:
when the vehicle is judged to be driven to a target bifurcation junction according to the first position information, acquiring sub-edge position information of an edge reference point contained in each bifurcation road corresponding to the target bifurcation junction;
and generating edge position information of each branched road according to the sub-edge position information.
4. The method of claim 1, further comprising:
and when the second position information accords with a preset track rule, positioning the vehicle according to a matching result of the second position information and the edge position information.
5. The method of claim 1, further comprising:
when edge position information matched with the second position information exists, acquiring the edge position information matched with the second position information as first target edge position information;
and positioning the vehicle according to the second position information and the first target edge position information.
6. The method according to claim 1, wherein when the second position information does not match each of the edge position information, the comparing the second position information with each of the edge position information to obtain each difference information further comprises:
when the difference value information is larger than the difference value threshold value, acquiring third position information of the vehicle according to a navigation system, and determining position range information according to the third position information;
acquiring edge position information of each road corresponding to the position range information, and acquiring second driving parameters of the vehicle within preset time;
and positioning the vehicle according to the third position information, the second driving parameter and the edge position information of each road corresponding to the position range information.
7. A positioning device, the device comprising:
the first position information acquisition module is used for acquiring first position information of the vehicle;
the edge position information acquisition module is used for acquiring the edge position information of each bifurcation road corresponding to the target bifurcation junction when judging that the vehicle runs to the target bifurcation junction according to the first position information;
the first running parameter acquisition module is used for acquiring a first running parameter of the vehicle in the running process of the target bifurcation;
the calculation module is used for calculating to obtain second position information according to the first position information and the first running parameter;
the positioning module is used for matching the second position information with each edge position information; when the second position information is not matched with each piece of edge position information, comparing the second position information with each piece of edge position information to obtain each piece of difference value information; when the minimum difference information is smaller than the difference threshold, taking the edge position information corresponding to the minimum difference information as second target edge position information; and positioning the vehicle according to the second position information and the second target edge position information.
8. The apparatus of claim 7, wherein the location module is further configured to obtain third location information of the vehicle according to a navigation system and determine location range information according to the third location information when the difference information is greater than the difference threshold; acquiring edge position information of each road corresponding to the position range information, and acquiring second driving parameters of the vehicle within preset time; and positioning the vehicle according to the third position information, the second driving parameter and the edge position information of each road corresponding to the position range information.
9. An electronic device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method according to any one of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
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| JP2001289654A (en) * | 2000-04-11 | 2001-10-19 | Equos Research Co Ltd | Navigator, method of controlling navigator and memory medium having recorded programs |
| JP2002328034A (en) * | 2001-05-01 | 2002-11-15 | Matsushita Electric Ind Co Ltd | Method for transferring positional information of digital map and system for carrying out the same |
| JP2005221427A (en) * | 2004-02-06 | 2005-08-18 | Kenwood Corp | Navigation system, map-matching method and program for navigation |
| JP4377284B2 (en) * | 2004-06-02 | 2009-12-02 | 株式会社ザナヴィ・インフォマティクス | Car navigation system |
| JP5434277B2 (en) * | 2009-05-29 | 2014-03-05 | 日産自動車株式会社 | Driving support device and driving support method |
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| JP5834933B2 (en) * | 2012-01-17 | 2015-12-24 | 日産自動車株式会社 | Vehicle position calculation device |
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| CN108151759B (en) * | 2017-10-31 | 2022-02-11 | 捷开通讯(深圳)有限公司 | Navigation method, intelligent terminal and navigation server |
| CN108153302B (en) * | 2017-12-08 | 2021-04-20 | 深圳市易成自动驾驶技术有限公司 | Guiding method and device of automatic guided vehicle and computer readable storage medium |
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