CN113865597A - Map matching positioning method, device and storage medium - Google Patents
Map matching positioning method, device and storage medium Download PDFInfo
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- CN113865597A CN113865597A CN202111194046.8A CN202111194046A CN113865597A CN 113865597 A CN113865597 A CN 113865597A CN 202111194046 A CN202111194046 A CN 202111194046A CN 113865597 A CN113865597 A CN 113865597A
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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
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
Abstract
The method obtains a current vehicle positioning point by obtaining positioning information of a current vehicle, generates lane central lines by using lane lines at two sides of a lane, respectively obtains the distance from the current vehicle positioning point to each lane central line, takes the lane central line corresponding to the shortest distance as a target lane central line, takes the target lane central line as a reference correction reference, and displays the current vehicle on the target lane central line according to the vehicle direction. Through the correction of the steps, the high-precision map can accurately display the running track of the current vehicle and smoothen the running track, so that the high-precision map is effectively prevented from jumping back and forth on different lanes when the current vehicle is displayed due to positioning errors, and the screen jitter is also solved.
Description
Technical Field
The present application relates to the field of automatic driving technologies, and in particular, to a map matching positioning method, apparatus, and storage medium.
Background
In the related art map navigation application scenario, map navigation needs to show a user a travel track of a current vehicle, for example, the current vehicle moves from a point a on a map to a point B on the map, and the map navigation needs to accurately display the travel track of the current vehicle moving from the point a to the point B on a terminal device.
The process integrates a vehicle positioning technology and a high-precision map technology. However, the vehicle positioning technology has a certain error, and the error may cause that the current vehicle running track of the current vehicle cannot be matched with the current vehicle running track displayed in the high-precision map, when the terminal device displays the current vehicle running track on the high-precision map, the problem of "jumping" of the current vehicle on the high-precision map may frequently occur, and the problem of "jumping" is colloquially that the current vehicle always runs on a middle lane in the actual running process, but the high-precision map displays that the current vehicle changes back and forth in different lanes in the actual running time period, and the vehicle running track displayed on the high-precision map is not smooth enough, so that a user feels that the screen is "jittered" when watching the screen.
Disclosure of Invention
In order to solve or partially solve the problems in the related art, the application provides a map matching positioning method, a map matching positioning device and a storage medium, which can enable a high-precision map to accurately display the running track of a current vehicle, avoid the problem of 'jumping' of the current vehicle on the high-precision map and cancel screen 'shaking'.
A first aspect of the present application provides a map matching positioning method, including:
acquiring a current vehicle positioning point;
acquiring lane line data, and generating a plurality of lane center lines according to the lane line data;
calculating the distance from the current vehicle positioning point to each lane center line respectively, and taking the lane center line corresponding to the shortest distance as a target lane center line;
performing linear fitting on the points of the center line of the target lane to obtain the vehicle direction;
and displaying the current vehicle according to the vehicle direction on the central line of the target lane of the high-precision map.
Preferably, the linearly fitting the points of the center line of the target lane to obtain the vehicle direction includes:
performing smooth correction on points on the center line of the target lane by adopting a Bessel fitting algorithm to obtain a corrected lane center line;
and taking two points on the corrected lane central line as target points, calculating to obtain a lane central line angle by using the two target points, and taking the lane central line angle as the vehicle direction.
Preferably, when performing smooth correction on a point on the center line of the target lane:
and performing smooth correction on the points on the central line of the target lane by adopting a cubic first-order Bessel fitting algorithm.
Preferably, the taking two points on the corrected lane center line as target points, calculating a lane center line angle by using the two target points, and taking the lane center line angle as the vehicle direction includes:
acquiring a moving track of the current vehicle along the center line of the correction lane in unit time, and dividing the moving track into a plurality of undetermined points according to a preset distance interval;
and calculating the distance value of two adjacent undetermined points, finding the two undetermined points corresponding to the distance value larger than a preset threshold value along the direction opposite to the moving track, and calculating to obtain the lane central line angle by taking the two undetermined points as two target points.
Preferably, the calculating the distance from the current vehicle positioning point to each lane center line respectively, and taking the lane center line corresponding to the shortest distance as a target lane center line includes:
projecting the vertical feet of each lane central line by the current vehicle positioning points according to the transverse direction of the lane to obtain a plurality of vertical foot projection lines;
and measuring the length value of each drop-foot projection line, and taking the lane central line corresponding to the drop-foot projection line with the smallest length value as the target lane central line.
Preferably, the positioning information of the current vehicle includes latitude information, longitude information, position information, and heading angle information.
A second aspect of the present application provides a map matching positioning apparatus, including:
the positioning module is used for acquiring a current vehicle positioning point;
the detection generation module is used for acquiring lane line data and generating a plurality of lane central lines according to the lane line data; the matching module is used for calculating the distance from the current vehicle positioning point to each lane center line respectively, and taking the lane center line corresponding to the shortest distance as a target lane center line;
the fitting module is used for performing linear fitting on the points of the center line of the target lane to obtain the vehicle direction;
and the display module is used for displaying the current vehicle on the center line of the target lane of the high-precision map according to the vehicle direction.
Preferably, the fitting module includes:
the smoothing processing unit is used for performing smooth correction on the points on the center line of the target lane by adopting a Bessel fitting algorithm to obtain a corrected lane center line;
and the correction unit is used for taking two points on the corrected lane central line as target points, calculating to obtain a lane central line angle by using the two target points, and taking the lane central line angle as the vehicle direction.
A third aspect of the present application provides an electronic device comprising:
a processor; and
a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform a map matching localization method as described above.
A fourth aspect of the present application provides a computer-readable storage medium having stored thereon executable code, which, when executed by a processor of an electronic device, causes the processor to perform a map matching localization method as described above.
The technical scheme provided by the application can comprise the following beneficial effects:
according to the technical scheme, the current vehicle positioning point is obtained by obtaining the positioning information of the current vehicle, lane lines at the positions of two sides of a lane are used for generating lane center lines, the distance from the current vehicle positioning point to each lane center line is respectively used for calculating the distance between the current vehicle positioning point and each lane center line, the lane center line corresponding to the shortest distance is used as a target lane center line, the target lane center line is used as a reference correction reference, and the current vehicle is displayed on the target lane center line according to the vehicle direction. Through the correction of the steps, the high-precision map can accurately display the running track of the current vehicle and smoothen the running track, so that the high-precision map is effectively prevented from jumping back and forth on different lanes when the current vehicle is displayed due to positioning errors, and the screen jitter is also solved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
Fig. 1 is a schematic flowchart of a map matching positioning method according to an embodiment of the present application;
FIG. 2 is a schematic flow chart illustrating linear fitting to a center line of a target lane according to an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a map matching positioning apparatus according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a fitting module according to an embodiment of the present disclosure;
FIG. 5 is a schematic structural diagram illustrating a drop-foot projection of a current vehicle positioning point according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device shown in an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In the related art, due to positioning errors, when a high-precision map displays vehicles running on a road, the vehicles displayed on the high-precision map may deviate from the actual running track of the vehicles from time to time, so that the vehicles on the high-precision map "jump" back and forth on different lanes, the current vehicle track displayed by the high-precision map in a screen is not smooth enough, and the screen is prone to "shake".
In view of the above problems, the embodiments of the present application provide a map matching and positioning method, which can enable a high-precision map to accurately display a driving track of a current vehicle. In order to facilitate understanding of the embodiments of the present application, the technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a diagram illustrating a map matching positioning method according to an embodiment of the present application, including the following steps:
and step S11, acquiring the current vehicle positioning point.
The positioning information of the current vehicle can be obtained by one of a GPS positioning technology, a GNSS positioning technology and an inertial navigation positioning technology, wherein the GPS positioning technology refers to a global positioning system (a positioning system of high-precision radio navigation based on aerial satellites, and the GNSS positioning technology refers to a global navigation satellite system, and observed quantities such as pseudo ranges, ephemeris and satellite transmission time of a group of satellites are utilized, the GPS positioning technology and the GNSS positioning technology both work on the basis of the satellite system, and both need to position the vehicle by means of the satellite system, while the inertial navigation positioning technology works on the basis of the inertial navigation system, and the inertial navigation positioning technology does not need to position the vehicle by means of the satellite system like the GPS positioning technology and the GNSS positioning technology, however, in the actual application process, positioning errors exist, and the high-precision map cannot accurately display the driving track of the vehicle due to the positioning errors.
The positioning information of the current vehicle includes latitude information, longitude information, position information, and heading angle information. Through the information, the corresponding current vehicle positioning point can be obtained. Of course, besides the latitude information, the longitude information, the position information and the heading angle information, the present application may also obtain other positioning information of the current vehicle, and the four positioning information are not limited.
And step S12, acquiring lane line data, and generating a plurality of lane center lines according to the lane line data.
The lane line is lane information of the current vehicle under the current driving road condition, and the current driving road condition refers to the lane information displayed in the current position area in the vehicle display screen. The road is divided into a plurality of lanes by lane lines, and the lane division is beneficial to assisting vehicles and drivers to drive safely.
Different lanes correspond to different lane lines, and corresponding lane center lines can be generated by means of the lane lines at the positions of the two sides of the lanes. The most common method is to generate the lane line by adopting a geometric midpoint mode, and the specific steps are as follows: a left lane line is arranged at the left side position of one lane, a right lane line is arranged at the right side position of the one lane, a transverse line which is perpendicular to the left lane line and the right lane line is arranged between the left lane line and the right lane line, the middle point of the transverse line is taken, and the middle point of the transverse line is the point which is positioned on the center line of the lane.
The method is adopted to make a plurality of transverse lines and take the midpoints, and the midpoints are connected in sequence to obtain the corresponding lane central line. However, in the actual road condition, there is an increase or decrease in the lanes, and the lane center line at the connection position of the increased lanes or the decreased lanes and the main lane may be obtained by taking the end point as the starting point and the ending point and by adopting the bezier curve fitting method, the detailed principle is well known to those skilled in the art and will not be elaborated.
And step S13, calculating the distance from the current vehicle positioning point to each lane center line respectively, and taking the lane center line corresponding to the shortest distance as a target lane center line.
Further, in one embodiment, step S13 includes:
step S131, the step of calculating the distance from the current vehicle positioning point to each lane center line respectively, and the step of taking the lane center line corresponding to the shortest distance as the target lane center line comprises the steps of:
step S132, projecting the vertical feet of each lane central line by the current vehicle positioning points according to the transverse direction of the lane to obtain a plurality of vertical foot projection lines;
step S133, measuring the length value of each drop foot projection line, and taking the lane center line corresponding to the drop foot projection line with the smallest length value as the center line of the target lane.
And after obtaining a plurality of lane center lines, combining the current vehicle positioning point obtained in the step S11 to perform a foot projecting operation on the current vehicle positioning point.
The method comprises the specific operation of confirming the transverse direction of a lane, projecting a current vehicle positioning point to each lane central line according to the transverse direction of the lane, wherein the central line of each lane is correspondingly provided with a projection point of the current vehicle positioning point, connecting each projection point with the current vehicle positioning point respectively to obtain a plurality of drop foot projection lines (the drop foot projection lines are vertical to the corresponding lane central line), measuring the length value of each drop foot projection line, taking the lane central line corresponding to the drop foot projection line with the minimum length value as a target lane central line, and correcting by taking the target lane central line as a reference datum. As shown in fig. 5, there are three lane center lines in the road, which are a lane center line a, a lane center line B, and a lane center line C, the current vehicle positioning point is K1, and we obtain three vertical projection lines by projecting the current vehicle positioning point K1 to each lane center line, which are a vertical projection line K1K2, a vertical projection line K1K3, and a vertical projection line K1K4, and calculate that the vertical projection line K1K2 is the smallest length value, so we use the lane center line B corresponding to the vertical projection line K1K2 as the target lane center line.
And step S14, performing linear fitting on the points of the center line of the target lane to obtain the vehicle direction.
And step S15, displaying the current vehicle according to the vehicle direction on the center line of the target lane of the high-precision map.
It should be noted that, after obtaining the center line of the target lane, the high-precision map may find a projection point corresponding to the current vehicle positioning point according to the center line of the target lane, and display the current vehicle on the projection point of the center line of the target lane according to the vehicle direction (i.e., the vehicle direction, i.e., the heading angle), thereby completing the position correction and matching of the current vehicle on the high-precision map.
It should be further noted that the high-precision map may adopt a high-precision map mode, the high-precision map includes three layers of structures, which are a map layer, a positioning layer and a dynamic layer, the information of the map layer mainly includes lane information, intersection information, etc., the positioning layer mainly has unique targets or features, such as traffic lights, traffic signs, point cloud data lights of roads, and the dynamic layer mainly includes some real-time road condition information. The map matching and positioning method can adopt a GPS positioning technology to position the vehicle, and then the map information generated by the high-precision map is used for completing the matching and correction of the vehicle positioning.
It should be further noted that the course angle is corrected to correct the head swing direction of the current vehicle, and since the positioning information of the current vehicle includes latitude information, longitude information, position information and course angle information, the course angle obtained by linear fitting the center line of the target lane is used to display the current vehicle on the high-precision map subsequently, the course angle obtained by linear fitting is used to display the current vehicle, and the current vehicle is not displayed according to the course angle information, which is very important for smoothing the traveling track of the current vehicle on the high-precision map. If the heading angle is not corrected, the head of the current vehicle is most likely to swing back and forth on the displayed running track, once the problem occurs, the current vehicle takes the gravity center of the current vehicle as the rotation center, the head of the current vehicle swings back and forth left and right on a high-precision map by taking the rotation center, and the visual effect of a user is like that a screen shakes. In addition, the course angle is used as a display basis for adjusting the high-precision map of the current vehicle, so that the course angle of the current vehicle can be well kept perpendicular to the transverse direction of the screen all the time, and the movement of the screen can follow the course angle of the current vehicle.
The map matching positioning method has the following advantages: by means of the center line of the target lane and taking the center line of the target lane as a reference, the current vehicle is displayed on the center line of the target lane according to the vehicle direction, so that the high-precision map can accurately display the running track of the current vehicle, the running track is smooth, the high-precision map is effectively prevented from jumping back and forth on different lanes when the current vehicle is displayed due to positioning errors, and the screen jitter is also solved.
It should be further noted that the map matching and positioning method of the present application can be applied to the fields of airplanes and electric vehicles, in addition to the field of automobiles, and can be used to complete map matching and positioning in the field of automatic driving.
Further, referring to fig. 2, in one embodiment, the linear fitting of the points of the center line of the target lane to obtain the vehicle direction includes:
and step S141, performing smooth correction on the points on the center line of the target lane by adopting a Bessel fitting algorithm to obtain a corrected lane center line.
It should be noted that, since the target lane center line may have different shapes, for example, the target lane center line may be a straight line, the target lane center line may also be a curve, or may also be a combination of a straight line and a curve, in order to obtain a smoother target lane center line, the target lane center line may also be smoothed by a bezier fitting algorithm.
The specific operation is as follows: all points on the center line of the target lane are identified, theoretically, there are numerous points on the center line of the target lane, and in order to reduce the calculation load, a mode of taking points at intervals can be adopted to screen out partial points on the center line of the target lane. And performing smooth correction on the screened partial points in a Bessel fitting mode to obtain a corrected target lane central line, namely the corrected lane central line.
It should be further noted that, when performing the bezier fitting on the points on the center line of the target lane, a first-order bezier fitting algorithm is adopted to perform the smooth correction, and in order to ensure the smoothness, the first-order bezier fitting may be performed on the points on the center line of the target lane multiple times. It can be understood that, as the number of fitting times increases, the smoothness and smoothness of the center line of the finally obtained corrected lane are higher, but the number of fitting times is not set to be too large, and the number of fitting times is preferably three.
And S142, taking two points on the corrected lane central line as target points, calculating to obtain a lane central line angle by using the two target points, and taking the lane central line angle as the vehicle direction.
It should be noted that, the calculation of the heading angle specifically includes: taking two points on the center line of the correction lane as target points, and defining the two target points as a first target point and a second target point for convenience of description, wherein the first target point and the second target point are selected in a manner of acquiring a movement track of the current vehicle along the center line of the correction lane in unit time, and the movement track is acquired by acquiring a vehicle speed of the current vehicle and calculating a movement distance of the current vehicle in unit time according to the vehicle speed, wherein the movement distance is the movement track of the current vehicle along the center line of the correction lane in unit time.
And dividing the moving track into a plurality of undetermined points according to a preset distance interval. For example, the movement trajectory includes n number of pending points. Firstly, the nth undetermined point is taken as a first target point, the nth-1 target point is taken as a second target point, the distance between the first target point and the second target point is calculated, if the value of the distance between the first target point and the second target point is smaller than a preset threshold value, the nth undetermined point is abandoned, the nth-1 undetermined point is taken as the first target point, the nth-2 undetermined point is taken as the second target point, the distance between the first target point and the second target point is calculated, and if the value of the distance between the first target point and the second target point is still smaller than the preset threshold value, the nth-1 undetermined point is abandoned. And taking the (n-2) th undetermined point as a first target point and the (n-3) th undetermined point as a second target point, and calculating again.
The process is repeated until two corresponding undetermined points with the distance between the first target point and the second target point being larger than a preset threshold value are found, and the two undetermined points meeting the conditions are used as the two target points to calculate the lane central line angle. The preset distance interval and the preset threshold may be set according to an actual scene, and are not specifically limited herein.
Referring to fig. 3, a map matching positioning apparatus 700 includes a positioning module 710, a detection generating module 720, a matching module 730, a fitting module 740, and a display module 750, wherein:
the positioning module 710 is used for acquiring a current vehicle positioning point;
the detection module 720 is configured to obtain lane line data, and generate a plurality of lane center lines according to the lane line data;
the matching module 730 is used for calculating the distance from the current vehicle positioning point to each lane center line respectively, and taking the lane center line corresponding to the shortest distance as a target lane center line;
the fitting module 740 is configured to perform linear fitting on the points of the center line of the target lane to obtain the vehicle direction.
The display module 750 is used for displaying the current vehicle according to the vehicle direction on the center line of the target lane of the high-precision map.
The map matching positioning device 700 obtains positioning information of a current vehicle through the positioning module 710 to obtain a current vehicle positioning point, detects lane lines in lanes by using the detection generation module 720, generates lane center lines according to the lane lines, then calculates distances from the current vehicle positioning point to each lane center line respectively by using the matching module 730, takes the lane center line corresponding to the shortest distance as a target center line, obtains a vehicle direction from the target lane center line by using a linear fitting mode through the fitting module 740, and finally displays the current vehicle on the target lane center line according to the vehicle direction through the display module 750 to finish smooth correction of a driving track of the current vehicle, so that the situation that a high-precision map jumps back and forth on different lanes when the current vehicle is displayed due to positioning errors is prevented. In addition, the course angle of the current vehicle is corrected, and the course angle of the current vehicle can be ensured to be always vertical to the transverse direction of the screen, so that the movement of the screen follows the course angle of the current vehicle, and the problem of screen jitter is solved.
Further, referring to fig. 4, in one embodiment, the fitting module 740 includes a smoothing unit 741 and a modifying unit 742. Wherein:
the smoothing processing unit 741 is configured to perform smooth correction on a point on the center line of the target lane by using a bezier fitting algorithm to obtain a corrected lane center line;
the correcting unit 742 is configured to take two points on the corrected lane center line as target points, calculate a lane center line angle using the two target points, and use the lane center line angle as the vehicle direction.
It should be noted that, a bezier fitting algorithm is adopted to perform smooth correction on points on the center line of the target lane, the center line of the target lane is taken as a reference, two target points of the center line of the target lane are selected to calculate the angle of the center line of the lane, and then the course angle of the current vehicle is corrected (the angle of the center line of the lane is equal to the angle of the course angle which is equal to the direction of the vehicle), so that when the high-precision map in the screen displays the track of the current vehicle, the smooth display can be performed, and the screen shake is cancelled.
Referring to fig. 6, an electronic device 900 includes a processor 910 and a memory 920.
The Processor 910 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 920 may include various types of storage units, such as system memory, Read Only Memory (ROM), and permanent storage. Wherein the ROM may store static data or instructions for the processor 910 or other modules of the computer. The persistent storage device may be a read-write storage device. The persistent storage may be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the permanent storage may be a removable storage device (e.g., floppy disk, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as a dynamic random access memory. The system memory may store instructions and data that some or all of the processors require at runtime. In addition, the memory 920 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic and/or optical disks, as well. The memory 920 has stored thereon executable code, which when processed by the processor 910, may cause the processor 910 to perform some or all of the methods described above.
Furthermore, the method according to the present application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing some or all of the steps of the above-described method of the present application.
Alternatively, the present application may also be embodied as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) having executable code (or a computer program or computer instruction code) stored thereon, which, when executed by a processor of an electronic device (or server, etc.), causes the processor to perform part or all of the various steps of the above-described method according to the present application.
Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. A map matching positioning method is characterized by comprising the following steps:
acquiring a current vehicle positioning point;
acquiring lane line data, and generating a plurality of lane center lines according to the lane line data;
calculating the distance from the current vehicle positioning point to each lane center line respectively, and taking the lane center line corresponding to the shortest distance as a target lane center line;
performing linear fitting on the points of the center line of the target lane to obtain the vehicle direction;
and displaying the current vehicle on the center line of the target lane of the high-precision map according to the vehicle direction.
2. The map-matching localization method according to claim 1, wherein the linearly fitting points of the center line of the target lane to obtain the vehicle direction comprises:
performing smooth correction on points on the center line of the target lane by adopting a Bessel fitting algorithm to obtain a corrected lane center line;
and taking two points on the corrected lane central line as target points, calculating to obtain a lane central line angle by using the two target points, and taking the lane central line angle as the vehicle direction.
3. The map matching positioning method according to claim 2, wherein, when performing smooth correction on the point on the center line of the target lane:
and performing smooth correction on the points on the central line of the target lane by adopting a cubic first-order Bessel fitting algorithm.
4. The map matching and positioning method according to claim 2 or 3, wherein the taking two points on the corrected lane center line as target points and calculating a lane center line angle by using the two target points comprises:
acquiring a moving track of the current vehicle along the center line of the correction lane in unit time, and dividing the moving track into a plurality of undetermined points according to a preset distance interval;
and calculating the distance value of two adjacent undetermined points, finding the two undetermined points corresponding to the distance value larger than a preset threshold value along the direction opposite to the moving track, and calculating to obtain the lane central line angle by taking the two undetermined points as two target points.
5. The map-matching positioning method according to claim 1, wherein the calculating of the distance from the current vehicle positioning point to each lane center line respectively, and taking the lane center line corresponding to the shortest distance as a target lane center line comprises:
projecting the vertical feet of each lane central line by the current vehicle positioning points according to the transverse direction of the lane to obtain a plurality of vertical foot projection lines;
and measuring the length value of each drop-foot projection line, and taking the lane central line corresponding to the drop-foot projection line with the smallest length value as the target lane central line.
6. The map-matching positioning method according to claim 1, wherein the positioning information of the current vehicle includes latitude information, longitude information, position information, and heading angle information.
7. A map matching positioning apparatus, comprising:
the positioning module is used for acquiring a current vehicle positioning point;
the detection generation module is used for acquiring lane line data and generating a plurality of lane central lines according to the lane line data;
the matching module is used for calculating the distance from the current vehicle positioning point to each lane center line respectively, and taking the lane center line corresponding to the shortest distance as a target lane center line;
the fitting module is used for performing linear fitting on the points of the center line of the target lane to obtain the vehicle direction;
and the display module is used for displaying the current vehicle on the center line of the target lane of the high-precision map according to the vehicle direction.
8. The map-matching positioning apparatus of claim 7, wherein the fitting module comprises:
the smoothing processing unit is used for performing smooth correction on points on the center line of the target lane by adopting a Bessel fitting algorithm to obtain a corrected lane center line;
and the correcting unit is used for taking two points on the corrected lane central line as target points, calculating to obtain a lane central line angle by using the two target points, and taking the lane central line angle as the vehicle direction.
9. An electronic device, comprising:
a processor; and
a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the map matching localization method of any one of claims 1 to 6.
10. A computer readable storage medium having stored thereon executable code which, when executed by a processor of an electronic device, causes the processor to perform a map matching localization method of any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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