CN111829537A - Vehicle positioning method and device - Google Patents
Vehicle positioning method and device Download PDFInfo
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- CN111829537A CN111829537A CN201910298078.9A CN201910298078A CN111829537A CN 111829537 A CN111829537 A CN 111829537A CN 201910298078 A CN201910298078 A CN 201910298078A CN 111829537 A CN111829537 A CN 111829537A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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Abstract
The embodiment of the application provides a vehicle positioning method and device, when the vehicle position of a target vehicle is judged to be in a road section overlapping area, the average speed of the target vehicle in a set time period of uploading time of the vehicle position corresponding to each space height road section in the road section overlapping area is obtained from a vehicle data set of the road section overlapping area, and then the space height road section where the target vehicle is located is generated according to the obtained average speed of the target vehicle and the obtained vehicle speed corresponding to each space height road section. Therefore, the situation that the vehicle cannot accurately know the spatial height road section in which the vehicle is located when the vehicle runs in the road section overlapping area can be effectively solved, the vehicle is prevented from running mistakenly and deviating from the navigation direction, the specific spatial position is selected without manual correction and intervention, and the safety factor of the running process is greatly improved.
Description
Technical Field
The application relates to the technical field of navigation, in particular to a vehicle positioning method and device.
Background
With the increasing scale of traffic networks, tunnels and elevated roads in developed cities are more and more dense, and the positioning and navigation requirements on the same horizontal position at different space heights are increasingly urgent. For example, when a passing vehicle travels on a route on an elevated road section or under an elevated road section, it is impossible to accurately locate whether the current position of the passing vehicle is on the elevated road section or under the elevated road section, which is very likely to cause a traveling error of the passing vehicle to deviate from the navigation direction. Although the user can manually select the specific spatial position of the passing vehicle through human correction intervention, the attention of the driver can be affected by the human operation of the navigation equipment on the road sections with high-speed running and more vehicles, and particularly, the driving danger coefficient is greatly deepened due to the greater frequency and complexity of operation when the overhead and ground routes are continuously crossed.
Disclosure of Invention
In view of the above, an object of the embodiments of the present application is to provide a vehicle positioning method and apparatus, so as to solve or improve the above problems.
According to an aspect of embodiments of the present application, there is provided an electronic device that may include one or more storage media and one or more processors in communication with the storage media. One or more storage media store machine-executable instructions that are executable by a processor. The processor executes the machine-executable instructions to perform a vehicle localization method when the electronic device is operational.
According to another aspect of the embodiments of the present application, there is provided a vehicle positioning method applied to a server, in which a vehicle data set of each road segment overlapping area is stored, where the road segment overlapping area is an overlapping area of at least two different spatial altitude road segments, and the vehicle data set includes vehicle average speeds of the respective spatial altitude road segments in the road segment overlapping area for respective set time periods on different dates, the method includes:
receiving uploading information of a target vehicle, wherein the uploading information comprises a vehicle position, a vehicle speed and an uploading moment of the target vehicle;
judging whether the vehicle position is in a road section overlapping area or not;
if the vehicle position is in a road section overlapping area, acquiring the average speed of a target vehicle of each space height road section in the road section overlapping area corresponding to the set time period of the uploading time from the vehicle data set of the road section overlapping area;
and generating the space height road section where the target vehicle is located according to the acquired average speed of the target vehicle corresponding to each space height road section and the vehicle speed.
In a possible implementation, the method further includes a step of pre-establishing a vehicle data set for each road segment overlap area, specifically including:
acquiring a first vehicle traffic data set of each traffic area, wherein the first vehicle traffic data set comprises date information, time information, speed information, longitude and latitude information and a spatial height road section where each passing vehicle is located;
screening the first vehicle traffic data sets of all the traffic areas, and determining second vehicle traffic data sets of all the spatial height road sections in each road section overlapping area;
aiming at each road section overlapping area, respectively establishing a third vehicle traffic data set of each space height road section according to different dates according to a second vehicle traffic data set of each space height road section in the road section overlapping area;
and determining different set time periods according to the third vehicle traffic data set of each space altitude road section, and calculating the vehicle average speed of each set time period corresponding to each space altitude road section to establish a vehicle data set of the road section overlapping region.
In one possible embodiment, the step of performing data filtering on the first vehicle traffic data set of each traffic area and determining the second vehicle traffic data set of each spatial altitude road segment in each road segment overlapping area includes:
determining a traffic area where each passing vehicle is located according to the longitude and latitude information of each passing vehicle;
and performing data screening on the first vehicle traffic data sets of all traffic areas according to the traffic areas where all passing vehicles are located and the spatial height road sections where all passing vehicles are located, and determining the second vehicle traffic data sets of all spatial height road sections in each road section overlapping area.
In one possible embodiment, the step of determining different set time periods according to the third vehicle traffic data set of each space-height road segment includes:
calculating the average speed of each passing vehicle in each fixed time period in the third vehicle traffic data set of each space height section aiming at the third vehicle traffic data set of each space height section;
judging whether the variation of the average speed of each passing vehicle in each fixed time period is larger than a preset variation or not according to each fixed time period;
if the variation of the average speed is larger than the preset variation, determining the fixed time period as a first target time period;
if the variation of the average speed is not greater than the preset variation, determining the fixed time period as a second target time period;
and respectively setting each first target time period as different set time periods, merging a plurality of second target time periods according to a preset merging rule to obtain at least one merged time period, and setting each merged time period as one set time period.
In a possible implementation manner, each segment overlapping area includes a first spatial altitude segment and a second spatial altitude segment, and the step of generating the spatial altitude segment where the target vehicle is located according to the acquired average speed of the target vehicle and the vehicle speed corresponding to each spatial altitude segment includes:
calculating an absolute value of a first speed difference between the vehicle speed and a target vehicle average speed corresponding to the first space altitude segment and an absolute value of a second speed difference between the target vehicle average speed corresponding to the second space altitude segment;
and determining the space height road section where the target vehicle is located according to the absolute value of the first speed difference and the absolute value of the second speed difference.
In one possible embodiment, the step of determining the spatial altitude section where the target vehicle is located according to the absolute value of the first speed difference and the absolute value of the second speed difference includes:
judging whether the absolute value of the first speed difference is larger than the absolute value of the second speed difference;
if the absolute value of the first speed difference is larger than the absolute value of the second speed difference, determining the second space altitude section as the space altitude section where the target vehicle is located;
and if the absolute value of the first speed difference is smaller than the absolute value of the second speed difference, determining the first space height section as a space height section where the target vehicle is located.
In a possible embodiment, the step of determining the spatial altitude section where the target vehicle is located according to the absolute value of the first speed difference and the absolute value of the second speed difference includes:
searching a first confidence coefficient corresponding to a first speed difference range in which the absolute value of the first speed difference is positioned and a second confidence coefficient corresponding to a second speed difference range in which the absolute value of the second speed difference is positioned;
respectively judging whether the first confidence coefficient and the second confidence coefficient are greater than a set confidence coefficient;
if the first confidence coefficient is greater than the set confidence coefficient, determining the first space height road section as the space height road section where the target vehicle is located;
if the second confidence coefficient is greater than the set confidence coefficient, determining the second space height road section as the space height road section where the target vehicle is located;
and if the first confidence coefficient and the second confidence coefficient are not greater than the set confidence coefficient, expanding and updating the vehicle data set of each road section overlapping region, and returning to the step of calculating the absolute value of a first speed difference between the vehicle speed and the average speed of the target vehicle corresponding to the first space height road section and the absolute value of a second speed difference between the vehicle speed and the average speed of the target vehicle corresponding to the second space height road section.
In a possible implementation manner, the method further includes a step of pre-configuring a plurality of confidence degrees corresponding to each road segment overlapping area and a speed difference range corresponding to each confidence degree, and specifically includes:
calculating a speed difference value between the average speed of the target vehicle corresponding to the first space altitude road section and the average speed of the target vehicle corresponding to the second space altitude road section in each road section overlapping area;
determining a plurality of confidence coefficients and a confidence coefficient corresponding to each confidence coefficient according to the vehicle data set of the road section overlapping region;
and calculating the product between the confidence coefficient corresponding to each confidence coefficient and the speed difference value, and configuring the speed difference value range corresponding to each confidence coefficient according to the product between the confidence coefficient corresponding to each confidence coefficient and the speed difference value.
In one possible embodiment, the method further comprises:
and sending the space height road section where the target vehicle is located to an uploading terminal of the target vehicle.
According to another aspect of the embodiments of the present application, there is provided a vehicle positioning apparatus applied to a server, in which a vehicle data set of each road segment overlapping area is stored, where the road segment overlapping area is an overlapping area of at least two different spatial altitude road segments on the same road segment, and the vehicle data set includes vehicle average speeds of the respective spatial altitude road segments in the road segment overlapping area for respective set time periods on different dates, the apparatus includes:
the system comprises a receiving module, a processing module and a processing module, wherein the receiving module is used for receiving uploading information of a target vehicle, and the uploading information comprises the vehicle position, the vehicle speed and the uploading time of the target vehicle;
the judging module is used for judging whether the vehicle position is in a road section overlapping area or not;
the acquisition module is used for acquiring the average speed of the target vehicle of each space height road section in the road section overlapping area corresponding to the set time period of the uploading moment from the vehicle data set of the road section overlapping area if the vehicle position is in the road section overlapping area;
and the generating module is used for generating the space height road section where the target vehicle is located according to the acquired average speed of the target vehicle corresponding to each space height road section and the vehicle speed.
According to another aspect of the embodiments of the present application, there is provided a readable storage medium having stored thereon machine executable instructions, which when executed by a processor, may perform the steps of the vehicle localization method described above.
Based on any one of the above aspects, when it is determined that the vehicle position of the target vehicle is in the road segment overlapping region, the embodiment of the application acquires the target vehicle average speed of the set time period of the uploading time of the vehicle position corresponding to each spatial altitude road segment in the road segment overlapping region from the vehicle data set of the road segment overlapping region, and then generates the spatial altitude road segment where the target vehicle is located according to the acquired target vehicle average speed and vehicle speed corresponding to each spatial altitude road segment. Therefore, the situation that the vehicle cannot accurately know the spatial height road section in which the vehicle is located when the vehicle runs in the road section overlapping area can be effectively solved, the vehicle is prevented from running mistakenly and deviating from the navigation direction, the specific spatial position is selected without manual correction and intervention, and the safety factor of the running process is greatly improved.
In order to make the aforementioned objects, features and advantages of the embodiments of the present application more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a schematic block diagram illustrating an application scenario of a vehicle positioning method provided in an embodiment of the present application;
FIG. 2 is a schematic flow chart illustrating a vehicle locating method provided by an embodiment of the present application;
FIG. 3 illustrates an overlay schematic of a first headroom segment and a second headroom segment provided by an embodiment of the present application;
FIG. 4 illustrates a schematic configuration of vehicle data sets for a first and second highspace road segment in a road segment overlap area provided by an embodiment of the present application;
fig. 5 is a schematic configuration diagram illustrating respective confidence levels corresponding to road segment overlapping regions provided in an embodiment of the present application;
fig. 6 illustrates an exemplary component diagram of the server shown in fig. 1 provided by an embodiment of the present application.
Detailed Description
In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the drawings in the present application are for illustrative and descriptive purposes only and are not used to limit the scope of protection of the present application. Additionally, it should be understood that the schematic drawings are not necessarily drawn to scale. The flowcharts used in this application illustrate operations implemented according to some of the embodiments of the present application. It should be understood that the operations of the flow diagrams may be performed out of order, and steps without logical context may be performed in reverse order or simultaneously. One skilled in the art, under the guidance of this application, may add one or more other operations to, or remove one or more operations from, the flowchart.
In addition, the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a schematic application scenario diagram of a vehicle positioning method provided in an embodiment of the present application. As shown in fig. 1, in the application scenario, each target vehicle 200 (only one is shown in fig. 1) is in communication connection with the server 100, and is used for uploading vehicle information to the server 100 through the navigation terminal. The navigation terminal may be directly installed in the target vehicle 200, as a part of the target vehicle 200, or may be separately installed from the target vehicle 200, for example, the navigation terminal may be, but is not limited to, a smart phone, a personal digital assistant, a tablet computer, a personal computer, a notebook computer, a virtual reality terminal device, an augmented reality terminal device, and the like. The navigation terminal may be installed with an internet product for providing navigation service, for example, the internet product may be an application APP, a Web page, an applet, and the like related to internet live broadcast service used in a computer or a smart phone.
It is understood that the application scenario shown in fig. 1 is only one possible example, and in other possible embodiments, the application scenario may include only one of the components shown in fig. 1 or may also include other components.
Fig. 2 shows a flowchart of a vehicle positioning method provided in an embodiment of the present application, which can be executed by the server 100 shown in fig. 1. It should be understood that in other embodiments, the order of some steps in the vehicle positioning method of the present embodiment may be interchanged according to actual needs, or some steps may be omitted or deleted. The detailed steps of the vehicle positioning method are described below.
In step S110, the upload information of the target vehicle 200 is received.
In this embodiment, the upload information may include the vehicle position, the vehicle speed, and the upload time of the target vehicle 200. In detail, during the driving process, the navigation terminal of the target vehicle 200 may obtain the current vehicle position and vehicle speed in real time through a GPS (Global Positioning System), and then transmit the current vehicle position and vehicle speed to the server 100 in real time through a network.
The Network may include a wired Network, a Wireless Network, an optical fiber Network, a telecommunication Network, an intranet, the internet, a Local Area Network (LAN), a Wide Area Network (WAN), a Wireless Local Area Network (WLAN), a Metropolitan Area Network (MAN), a Wide Area Network (WAN), a Public Switched Telephone Network (PSTN), or any combination thereof.
In step S120, it is determined whether the vehicle position is in the link overlap region.
In this embodiment, the server 100 stores the longitude and latitude range of each road section overlapping area, and after the vehicle position of the target vehicle 200 is obtained, it is determined whether the vehicle position of the target vehicle 200, that is, the longitude and latitude of the target vehicle 200 is within the longitude and latitude range of any road section overlapping area. If the longitude and latitude of the target vehicle 200 is within the longitude and latitude range of a certain road section overlapping area, it is determined that the vehicle position is in the road section overlapping area.
Step S130, if the vehicle position is in the road segment overlapping area, obtaining the target vehicle average speed of the set time period corresponding to the uploading time of each spatial altitude road segment in the road segment overlapping area from the vehicle data set of the road segment overlapping area.
In this embodiment, the server 100 stores a vehicle data set for each road segment overlapping region, where the road segment overlapping region is an overlapping region of at least two different spatial altitude road segments, and the vehicle data set includes vehicle average speeds of the spatial altitude road segments in the road segment overlapping region corresponding to different dates in different set time periods.
Illustratively, for example, as shown in fig. 3, each road segment overlapping area is an overlapping area of two different spatial altitude road segments, and the road segment overlapping area may include a first spatial altitude road segment and a second spatial altitude road segment. In an actual scene, the first spatial altitude section may be a section on an overpass, and the second spatial altitude section may be a section under the overpass, or the first spatial altitude section may also be a section under the overpass, and the second spatial altitude section may also be a section on the overpass.
Before further explaining the present step S130, a process of the server 100 establishing a vehicle data set for each road segment overlapping area in advance will be explained below.
The method comprises the steps of firstly, obtaining a first vehicle traffic data set of each traffic area, wherein the first vehicle traffic data set comprises date information, time information, speed information, longitude and latitude information and a spatial height road section where each passing vehicle is located. Alternatively, the first vehicle traffic data set of each traffic zone may be obtained from a large amount of vehicle information data that have been counted in the traffic network of each city.
The position information of each passing vehicle is obtained by capturing data of a bayonet camera (for example, the bayonet camera 1 of the first space altitude section and the bayonet camera 2 of the second space altitude section shown in fig. 3) of each space altitude section in each traffic area, and the position information can represent the space altitude section where each passing vehicle is located.
And secondly, screening the first vehicle traffic data sets of all traffic areas, and determining second vehicle traffic data sets of all spatial height road sections in each road section overlapping area. For example, the traffic area where each passing vehicle is located may be determined according to the longitude and latitude information of each passing vehicle, and the spatial altitude section where each passing vehicle is located may be determined according to the position information of each passing vehicle. And then, performing data screening on the first vehicle traffic data set of each traffic area according to the traffic area where each passing vehicle is located and the space height road section, and determining a second vehicle traffic data set of each space height road section in each road section overlapping area.
And thirdly, aiming at each road section overlapping area, respectively establishing a third vehicle traffic data set of each space height road section according to different dates according to the second vehicle traffic data set of each space height road section in the road section overlapping area. Thus, because the difference of the vehicle traffic data sets on weekends, holidays and other dates is large and the difference of the vehicle traffic data sets in different seasons is also large in the actual scene, the accuracy of subsequent vehicle positioning can be greatly improved by respectively establishing the third vehicle traffic data sets of each road section with the spatial height according to different days, such as holidays and other dates.
Fourthly, according to the third vehicle traffic data set of each spatial altitude road section, different set time periods are determined, and the vehicle average speed of each set time period corresponding to each spatial altitude road section is calculated, so that the vehicle data set of the road section overlapping area is established.
For example, in one possible implementation, an average speed of each passing vehicle in the third vehicle traffic data set for each spatial elevation segment may be calculated for the third vehicle traffic data set for that spatial elevation segment for each fixed time period. Then, for each fixed time period, it is determined whether the variation amount of the average speed of each passing vehicle in the fixed time period is larger than a preset variation amount. If the variation of the average speed is larger than the preset variation, determining the fixed time period as a first target time period; and if the variation of the average speed is not greater than the preset variation, determining the fixed time period as a second target time period. On the basis, each first target time period may be set to be a different set time period, multiple second target time periods are combined according to a preset combination rule to obtain at least one combined time period, and each combined time period is set to be one set time period, where the combined time period may include each second target time period, adjacent second target time periods, all second target time periods, and the like, where a phase difference between average speeds is smaller than a set phase difference.
For example, it is determined whether the variation amount of the average speed of each passing vehicle in the third vehicle traffic data set of the space height section in the T1, T2, T3, T4 and T5 time periods is greater than the preset variation amount for the T1, T2, T3, T4 and T5 time periods, respectively. If the variation of the average speed in the T1 time period and the T2 time period is not greater than the preset variation, the variation of the average speed in the T3 time period is greater than the preset variation, and the variation of the average speed in the T4 time period and the T5 time period is not greater than the preset variation, the T3 time period is taken as a set time period alone, the T1 time period and the T2 time period are combined into a time period as a set time period, the T4 time period and the T5 time period are combined into a time period as a set time period, or the T1 time period, the T2 time period, the T4 time period and the T5 time period are combined into a time period as a set time period.
It should be noted that the setting rule of the setting time interval is only an example, and in an actual implementation process, a person skilled in the art may set the setting time interval according to other rules, for example, the setting time interval may also be set according to information such as an acceleration change amount and a traffic jam condition, which is not limited in any way in the embodiment of the present application.
On the basis, the average speed of the vehicle in each set time period corresponding to each space height road section is calculated to establish a vehicle data set of the road section overlapping area. For example, as shown in fig. 4, a schematic diagram of the arrangement of the vehicle data sets of the first space-height road segment and the second space-height road segment in a certain road segment overlapping region is shown, and it is not difficult to acquire the vehicle data set and the vehicle average speed of the first space-height road segment and the second space-height road segment in each set time period.
Based on the design, with the continuous increase of time and the data volume of a traffic network, the finally obtained vehicle data sets of the overlapping areas of all road sections can more and more accurately reflect the real situation.
On the basis of the foregoing description, it is first determined whether the date of the upload time is, for example, holidays, weekdays, weekends, or the like. Assuming that the date of the uploading time is holiday, and the set time periods corresponding to the holidays of a certain spatial altitude road segment in the road segment overlapping area are t1 time period, t2 time period and t3 time period, whether the uploading time is in t1 time period, t2 time period or t3 time period is judged, for example, if the uploading time is in t1 time period, the target vehicle average speed corresponding to the t1 time period of the holidays of the spatial altitude road segment is obtained from the vehicle data set of the road segment overlapping area configured above. For example, assuming that the date of the upload time is a working day, and the set time periods for a certain spatial altitude link in the link overlap area corresponding to the working day are the t4 time period, the t5 time period, and the t6 time period, it is determined whether the upload time is in the t4 time period, the t5 time period, or the t6 time period, and for example, if the upload time is in the t5 time period, the target vehicle average speed for the spatial altitude link corresponding to the t5 time period of the working day is obtained from the vehicle data set in the link overlap area configured as described above. By analogy, the average speed of the target vehicle in the set time period corresponding to the uploading time of each space height road section in the road section overlapping area can be obtained.
In step S140, the spatial elevation road segment where the target vehicle 200 is located is generated according to the acquired average speed and vehicle speed of the target vehicle corresponding to each spatial elevation road segment.
As a possible implementation, taking as an example that each link overlapping area includes a first spatial altitude link and a second spatial altitude link, the present embodiment may calculate an absolute value | S3-S1| of a first speed difference between the vehicle speed S3 and the target vehicle average speed S1 corresponding to the first spatial altitude link and an absolute value | S3-S2| of a second speed difference between the target vehicle average speed S2 corresponding to the second spatial altitude link. Then, the space-height section where the target vehicle 200 is located is determined according to the absolute value of the first speed difference | S3-S1| and the absolute value of the second speed difference | S3-S2 |.
It is understood that the above absolute value of the first speed difference and the absolute value of the second speed difference are only examples, and in other embodiments, a person skilled in the art may select other calculation manners, for example, by calculating a first speed ratio between the vehicle speed S3 and the target vehicle average speed S1 corresponding to the first space height section, and a second speed ratio between the target vehicle average speed S2 corresponding to the second space height section, and then determining the space height section where the target vehicle 200 is located according to the first speed ratio and the second speed ratio. Alternatively, the first speed ratio and the second speed ratio may also determine corresponding multiplication coefficients according to actual conditions of the road segments with different spatial heights, and the like, which is not limited in this embodiment.
For example, it may be determined whether the absolute value of the first speed difference | S3-S1| is greater than the absolute value of the second speed difference | S3-S2|, and if the absolute value of the first speed difference | S3-S1| is greater than the absolute value of the second speed difference | S3-S2|, the second space height section is determined as the space height section where the target vehicle 200 is located; if the absolute value of the first speed difference | S3-S1| is less than the absolute value of the second speed difference | S3-S2|, the first space height link is determined as the space height link where the target vehicle 200 is located.
For another example, the server 100 may further store a plurality of confidence levels corresponding to each road segment overlapping area and a speed difference range corresponding to each confidence level.
The configuration process of the multiple confidence levels corresponding to each road segment overlapping area and the speed difference range corresponding to each confidence level is exemplarily described below with reference to fig. 5.
First, for each road section overlapping area, a speed difference | S2-S1| between a target vehicle average speed S1 corresponding to a first space height road section and a target vehicle average speed S2 corresponding to a second space height road section in the road section overlapping area is calculated.
And secondly, determining a plurality of confidence coefficients and a confidence coefficient corresponding to each confidence coefficient according to the vehicle data set of the road section overlapping region. For example, a plurality of confidences and a confidence coefficient corresponding to each confidence may be determined according to the average speed of the vehicles in each set time period on different dates in the vehicle data set of the road segment overlapping region.
And thirdly, calculating the product between the confidence coefficient corresponding to each confidence coefficient and the speed difference value, and configuring the speed difference value range corresponding to each confidence coefficient according to the product between the confidence coefficient corresponding to each confidence coefficient and the speed difference value.
It is understood that the above speed difference between the target vehicle average speed S1 corresponding to the first spatial altitude segment and the target vehicle average speed S2 corresponding to the second spatial altitude segment is only an example, and in other embodiments, a person skilled in the art may select other calculation manners, for example, an average speed ratio between the target vehicle average speed S1 corresponding to the first spatial altitude segment and the target vehicle average speed S2 corresponding to the second spatial altitude segment may be calculated, which is not limited in any way by the embodiment.
For example, as shown in fig. 5, the confidence level may include P1: 95%, P2: 90%, P3: 85%, P4: 75%, P5: 50% and the like, and if the confidence coefficients of P1, P2, P3, P4 and P5 are 0.05, 0.1, 0.15, 0.25 and 0.5 respectively, P1 represents the confidence that the speed difference is less than 0.05 × S2-S1 |. P2 represents the confidence that the difference in velocity is less than 0.1 x | S2-S1 |. P3 represents the confidence that the difference in velocity is less than 0.15 x | S2-S1 |. P4 represents the confidence that the difference in velocity is less than 0.25 x | S2-S1 |. P5 represents the confidence that the difference in velocity is less than 0.5 x | S2-S1 |.
Taking the above as an example, assuming that the target vehicle average speed S1 corresponding to the first spatial altitude segment is 100 and the target vehicle average speed S2 corresponding to the second spatial altitude segment is 70, if | S2-S1| is 30, then correspondingly, P1 indicates that the confidence that the speed difference is less than 1.5 is 95%. P2 indicates a 90% confidence that the velocity difference is less than 3. P3 indicates a confidence of 85% that the speed difference is less than 4.5. P4 indicates a confidence of 75% for a velocity difference of less than 7.5. P5 indicates a confidence of 50% for speed differences less than 15 and 0 if the speed differences are greater than 15.
In this case, first, a first confidence level Z1 corresponding to a first speed difference range in which the absolute value | S3-S1| of the first speed difference is located and a second confidence level Z2 corresponding to a second speed difference range in which the absolute value | S3-S2| of the second speed difference is located are searched for.
Then, whether the first confidence Z1 and the second confidence Z2 are larger than the set confidence Z is judged respectivelyMIf the first confidence level Z1 is greater than the set confidence level ZMThe first spatial altitude section is determined as the spatial altitude section where the target vehicle 200 is located. If the second confidence level Z2 is greater than the set confidence level ZMThe second spatial altitude section is determined as the spatial altitude section where the target vehicle 200 is located. If the first confidence degree Z1 and the second confidence degree Z2 are not more than the set confidence degree ZMThen the update is extendedThe vehicle data sets for each road segment overlap region and returning the step of calculating an absolute value of a first speed difference | S3-S1| between the vehicle speed and the target vehicle average speed corresponding to the first space height road segment and an absolute value of a second speed difference | S3-S2| between the target vehicle average speed corresponding to the second space height road segment.
For example, and still taking the foregoing example as an example, assume that S3 is 98, confidence threshold ZMIf the absolute value of the first speed difference is | S3-S1| -28, the absolute value of the first speed difference is | S3-S2| -3, then the first speed difference range where the absolute value 28 of the first speed difference is located is found to be greater than 15, the corresponding first confidence level Z1 is 0, the second speed difference range where the absolute value 3 of the second speed difference is located is less than 4.5, and the corresponding second confidence level Z2 is 85%. At this time, the second confidence level Z2 is greater than the confidence level threshold value 75%, and the second spatial altitude section is determined as the spatial altitude section where the target vehicle 200 is located. Therefore, the embodiment can determine the spatial altitude section where the target vehicle 200 is located more objectively and accurately by adopting the confidence level method.
Therefore, the situation that the vehicle cannot accurately know the spatial height road section in which the vehicle is located when the vehicle runs in the road section overlapping area can be effectively solved, the vehicle is prevented from running mistakenly and deviating from the navigation direction, the specific spatial position is selected without manual correction intervention, and the safety factor of the running process is greatly improved.
Fig. 6 illustrates an exemplary component schematic diagram of the server 100 shown in fig. 1 provided by the embodiment of the present application, and the server 100 may include a storage medium 110, a processor 120, and a vehicle positioning device 130. In this embodiment, the storage medium 110 and the processor 120 are both located in the server 100 and are separately disposed. However, it should be understood that the storage medium 110 may be separate from the server 100 and may be accessed by the processor 120 through a bus interface. Alternatively, the storage medium 110 may be integrated into the processor 120, for example, may be a cache and/or general purpose registers.
The processor 120 is a control center of the server 100, connects various parts of the entire server 100 using various interfaces and lines, performs various functions of the server 100 and processes data by running or executing software programs and/or modules stored in the storage medium 110 and calling data stored in the storage medium 110, thereby integrally monitoring the terminal. Alternatively, processor 120 may include one or more processing cores; for example, the processor 120 may integrate an application processor, which primarily handles operating systems, user interfaces, applications, etc., and a modem processor, which primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor.
The processor 120 may be a Central Processing Unit (CPU), and the processor 120 may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor 120 may be any conventional processor or the like.
The storage medium 110 may include a read-only memory and a random access memory, and provides instructions and data to the processor 120. A portion of the storage medium 110 may also include non-volatile random access memory.
The vehicle positioning device 130 may be understood as the server 100 or the processor 120 of the server 100, or may be understood as a software functional module that is independent of the server 100 or the processor 120 and implements the vehicle positioning method under the control of the server 100. As shown in fig. 5, the vehicle positioning device 130 may include a receiving module 131, a determining module 132, an obtaining module 133, and a generating module 134, and the functions of the functional modules of the vehicle positioning device 130 are described in detail below.
The receiving module 131 is configured to receive upload information of the target vehicle 200, where the upload information includes a vehicle position, a vehicle speed, and an upload time of the target vehicle 200. It is understood that the receiving module 131 can be used to execute the step S110, and for the detailed implementation of the receiving module 131, reference can be made to the content related to the step S110.
And the judging module 132 is used for judging whether the vehicle position is in the road section overlapping area. It is understood that the determining module 132 can be used to execute the step S120, and the detailed implementation of the determining module 132 can refer to the content related to the step S120.
The obtaining module 133 is configured to obtain, from the vehicle data set in the road segment overlapping area, the target vehicle average speed of the set time period corresponding to the uploading time of each spatial altitude road segment in the road segment overlapping area if the vehicle position is in the road segment overlapping area. It is understood that the obtaining module 133 may be configured to perform the step S130, and for a detailed implementation of the obtaining module 133, reference may be made to the content related to the step S130.
The generating module 134 is configured to generate the spatial elevation road segment where the target vehicle 200 is located according to the acquired average speed of the target vehicle and the vehicle speed corresponding to each spatial elevation road segment. It is understood that the generating module 134 can be used to execute the step S140, and for the detailed implementation of the generating module 134, reference can be made to the above description about the step S140.
Further, the present application also provides a computer-readable storage medium, where the computer-readable storage medium stores machine-executable instructions, and the machine-executable instructions, when executed, implement the vehicle positioning method provided by the foregoing embodiment.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical division, and there may be other divisions in actual implementation, and for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or modules through some communication interfaces, and may be in an electrical, mechanical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (12)
1. A vehicle positioning method is applied to a server, a vehicle data set of each road section overlapping area is stored in the server, the road section overlapping area is the overlapping area of at least two different spatial altitude road sections, the vehicle data set comprises vehicle average speeds of the spatial altitude road sections in the road section overlapping area corresponding to different days and different set time periods, and the method comprises the following steps:
receiving uploading information of a target vehicle, wherein the uploading information comprises a vehicle position, a vehicle speed and an uploading moment of the target vehicle;
judging whether the vehicle position is in a road section overlapping area or not;
if the vehicle position is in a road section overlapping area, acquiring the average speed of a target vehicle of each space height road section in the road section overlapping area corresponding to the set time period of the uploading time from the vehicle data set of the road section overlapping area;
and generating the space height road section where the target vehicle is located according to the acquired average speed of the target vehicle corresponding to each space height road section and the vehicle speed.
2. The vehicle localization method according to claim 1, further comprising a step of pre-establishing a vehicle data set for each road segment overlap area, in particular comprising:
acquiring a first vehicle traffic data set of each traffic area, wherein the first vehicle traffic data set comprises date information, time information, speed information, longitude and latitude information and a spatial height road section where each passing vehicle is located;
screening the first vehicle traffic data sets of all the traffic areas, and determining second vehicle traffic data sets of all the spatial height road sections in each road section overlapping area;
aiming at each road section overlapping area, respectively establishing a third vehicle traffic data set of each space height road section according to different dates according to a second vehicle traffic data set of each space height road section in the road section overlapping area;
and determining different set time periods according to the third vehicle traffic data set of each space altitude road section, and calculating the vehicle average speed of each set time period corresponding to each space altitude road section to establish a vehicle data set of the road section overlapping region.
3. The vehicle positioning method according to claim 2, wherein the step of data screening the first vehicle traffic data set of each traffic zone to determine the second vehicle traffic data set of each spatial altitude road segment in each road segment overlap region comprises:
determining a traffic area where each passing vehicle is located according to the longitude and latitude information of each passing vehicle;
and performing data screening on the first vehicle traffic data sets of all traffic areas according to the traffic areas where all passing vehicles are located and the spatial height road sections where all passing vehicles are located, and determining the second vehicle traffic data sets of all spatial height road sections in each road section overlapping area.
4. The vehicle localization method according to claim 2, wherein the step of determining different set time periods from the third vehicle traffic data set for each spatial elevation section comprises:
calculating the average speed of each passing vehicle in each fixed time period in the third vehicle traffic data set of each space height section aiming at the third vehicle traffic data set of each space height section;
judging whether the variation of the average speed of each passing vehicle in each fixed time period is larger than a preset variation or not according to each fixed time period;
if the variation of the average speed is larger than the preset variation, determining the fixed time period as a first target time period;
if the variation of the average speed is not greater than the preset variation, determining the fixed time period as a second target time period;
and respectively setting each first target time period as different set time periods, merging a plurality of second target time periods according to a preset merging rule to obtain at least one merged time period, and setting each merged time period as one set time period.
5. The vehicle positioning method according to any one of claims 1 to 4, wherein each segment overlapping area comprises a first spatial altitude segment and a second spatial altitude segment, and the step of generating the spatial altitude segment where the target vehicle is located according to the acquired average speed of the target vehicle corresponding to each spatial altitude segment and the vehicle speed comprises:
calculating an absolute value of a first speed difference between the vehicle speed and a target vehicle average speed corresponding to the first space altitude segment and an absolute value of a second speed difference between the target vehicle average speed corresponding to the second space altitude segment;
and determining the space height road section where the target vehicle is located according to the absolute value of the first speed difference and the absolute value of the second speed difference.
6. The vehicle positioning method according to claim 5, wherein the step of determining the spatial altitude section where the target vehicle is located based on the absolute value of the first speed difference and the absolute value of the second speed difference includes:
judging whether the absolute value of the first speed difference is larger than the absolute value of the second speed difference;
if the absolute value of the first speed difference is larger than the absolute value of the second speed difference, determining the second space altitude section as the space altitude section where the target vehicle is located;
and if the absolute value of the first speed difference is smaller than the absolute value of the second speed difference, determining the first space height section as a space height section where the target vehicle is located.
7. The vehicle positioning method according to claim 5, wherein a plurality of confidence levels corresponding to each road segment overlapping region and a speed difference range corresponding to each confidence level are stored in the server, and the step of determining the spatial altitude road segment where the target vehicle is located according to the absolute value of the first speed difference and the absolute value of the second speed difference comprises:
searching a first confidence coefficient corresponding to a first speed difference range in which the absolute value of the first speed difference is positioned and a second confidence coefficient corresponding to a second speed difference range in which the absolute value of the second speed difference is positioned;
respectively judging whether the first confidence coefficient and the second confidence coefficient are greater than a set confidence coefficient;
if the first confidence coefficient is greater than the set confidence coefficient, determining the first space height road section as the space height road section where the target vehicle is located;
if the second confidence coefficient is greater than the set confidence coefficient, determining the second space height road section as the space height road section where the target vehicle is located;
and if the first confidence coefficient and the second confidence coefficient are not greater than the set confidence coefficient, expanding and updating the vehicle data set of each road section overlapping region, and returning to the step of calculating the absolute value of a first speed difference between the vehicle speed and the average speed of the target vehicle corresponding to the first space height road section and the absolute value of a second speed difference between the vehicle speed and the average speed of the target vehicle corresponding to the second space height road section.
8. The vehicle positioning method according to claim 7, further comprising a step of pre-configuring a plurality of confidence degrees corresponding to each road segment overlapping area and a speed difference range corresponding to each confidence degree, specifically comprising:
calculating a speed difference value between the average speed of the target vehicle corresponding to the first space altitude road section and the average speed of the target vehicle corresponding to the second space altitude road section in each road section overlapping area;
determining a plurality of confidence coefficients and a confidence coefficient corresponding to each confidence coefficient according to the vehicle data set of the road section overlapping region;
and calculating the product between the confidence coefficient corresponding to each confidence coefficient and the speed difference value, and configuring the speed difference value range corresponding to each confidence coefficient according to the product between the confidence coefficient corresponding to each confidence coefficient and the speed difference value.
9. The vehicle positioning method according to claim 7, characterized in that the method further comprises:
and sending the space height road section where the target vehicle is located to an uploading terminal of the target vehicle.
10. A vehicle positioning device applied to a server, wherein a vehicle data set of each road segment overlapping region is stored in the server, the road segment overlapping region is an overlapping region of at least two different spatial altitude road segments in the same road segment, the vehicle data set includes vehicle average speeds of the spatial altitude road segments in the road segment overlapping region for respective set time periods on different dates, and the device includes:
the system comprises a receiving module, a processing module and a processing module, wherein the receiving module is used for receiving uploading information of a target vehicle, and the uploading information comprises the vehicle position, the vehicle speed and the uploading time of the target vehicle;
the judging module is used for judging whether the vehicle position is in a road section overlapping area or not;
the acquisition module is used for acquiring the average speed of the target vehicle of each space height road section in the road section overlapping area corresponding to the set time period of the uploading moment from the vehicle data set of the road section overlapping area if the vehicle position is in the road section overlapping area;
and the generating module is used for generating the space height road section where the target vehicle is located according to the acquired average speed of the target vehicle corresponding to each space height road section and the vehicle speed.
11. An electronic device comprising one or more storage media and one or more processors in communication with the storage media, the one or more storage media storing processor-executable machine-executable instructions that, when executed by the electronic device, are executed by the processors to perform the vehicle localization method of any of claims 1-9.
12. A readable storage medium having stored thereon machine executable instructions which when executed perform the vehicle localization method of any one of claims 1-9.
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| WO2022116694A1 (en) * | 2020-12-01 | 2022-06-09 | 北京罗克维尔斯科技有限公司 | Method and apparatus for updating confidence of high-definition map |
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