CN114383620A - Vehicle accurate position obtaining method and system, readable storage medium and vehicle - Google Patents
Vehicle accurate position obtaining method and system, readable storage medium and vehicle Download PDFInfo
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- CN114383620A CN114383620A CN202111441134.3A CN202111441134A CN114383620A CN 114383620 A CN114383620 A CN 114383620A CN 202111441134 A CN202111441134 A CN 202111441134A CN 114383620 A CN114383620 A CN 114383620A
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Abstract
The invention discloses a vehicle accurate position obtaining method, a system, a readable storage medium and a vehicle, wherein the method comprises the following steps: in the automatic driving process of a vehicle, obtaining map and landmark elements of the vehicle in a high-precision map, and calculating relative position information between the vehicle and the map and landmark elements in the high-precision map; acquiring road sign elements corresponding to the map sign elements on a road in real time, and calculating actual relative position information between the vehicle and the road sign elements; judging whether the positioning signal value of the vehicle is lower than a signal threshold value or not; and if so, adjusting the relative position information according to the actual relative position information to acquire the accurate position of the vehicle on the high-precision map. The invention solves the problem that the vehicle positioning is inaccurate when the vehicle passes through a road section with weak positioning signals or no positioning signals in the prior art.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a method and a system for acquiring an accurate position of a vehicle, a readable storage medium and the vehicle.
Background
With the continuous development of society, automobiles enter thousands of households, and an unmanned automobile (hereinafter referred to as an unmanned automobile) is an intelligent automobile, can sense the surrounding environment of the automobile based on a vehicle-mounted navigation system, and controls the steering and the speed of the automobile according to the road, the automobile position and the obstacle information obtained by sensing, so that the automobile can safely and reliably run on the road. The positioning technology is a key technology of the vehicle-mounted navigation system, and driving control of the unmanned vehicle can be performed only by accurately acquiring positioning information of the unmanned vehicle. .
The high-precision map is a core technology of automatic driving, and is used as prior information for positioning vehicles, and the vehicles can obtain self positioning information in real time through the high-precision map. At present, an existing unmanned vehicle Positioning method is mainly to perform Positioning through a vehicle-mounted Global Positioning System (GPS), and further, driving control of an unmanned vehicle is not realized according to Positioning information of the unmanned vehicle. However, when the unmanned vehicle passes through a road section with weak GPS positioning signals or no positioning signals, the problem of inaccurate positioning of the vehicle can occur.
Disclosure of Invention
In view of the above, the present invention provides a method, a system, a readable storage medium and a vehicle for obtaining an accurate position of a vehicle, and aims to solve the problem in the prior art that a vehicle is not accurately positioned when the vehicle passes through a road section with a weak positioning signal or without a positioning signal.
The embodiment of the invention is realized as follows: a vehicle accurate position acquisition method, the method comprising:
in the automatic driving process of a vehicle, obtaining map and landmark elements of the vehicle in a high-precision map, and calculating relative position information between the vehicle and the map and landmark elements in the high-precision map;
acquiring road sign elements corresponding to the map sign elements on a road in real time, and calculating actual relative position information between the vehicle and the road sign elements;
judging whether the positioning signal value of the vehicle is lower than a signal threshold value or not;
and if so, adjusting the relative position information according to the actual relative position information to acquire the accurate position of the vehicle on the high-precision map.
Further, the method for obtaining the accurate position of the vehicle is characterized in that after the step of judging whether the positioning signal value of the vehicle is lower than the signal threshold value, the method further comprises:
judging whether the distance between the position of the vehicle on the high-precision map and the position of the vehicle on the road meets a preset distance threshold value or not according to the relative position information and the actual relative position information;
if not, the current position of the vehicle on the high-precision map is obtained by combining navigation and wheel speed meter to calculate the track.
Further, the method for obtaining the accurate position of the vehicle includes the steps of obtaining road sign elements corresponding to the map sign elements on the road in real time, and calculating actual relative position information between the vehicle and the road sign elements, including:
and acquiring road sign elements on a road, and matching the road sign elements according to the map road sign elements to acquire the road sign elements corresponding to the map road sign elements.
Further, in the above method for obtaining an accurate position of a vehicle, a plurality of positioning identifiers are provided on the road, and the step of determining whether the positioning signal value of the vehicle is lower than the signal threshold further includes:
judging whether the duration of the positioning signal value lower than the signal threshold is longer than a preset time threshold or not;
if yes, acquiring the position information of the positioning mark and the pose information of the vehicle in two continuous frames of images, and determining the position information of the vehicle.
Further, the method for obtaining the accurate position of the vehicle, wherein the step of obtaining the position information of the positioning identifier and the pose information of the vehicle in two consecutive images and determining the position information of the vehicle further includes:
and adjusting the relative position information according to the position information of the vehicle to acquire the accurate position of the vehicle on the high-precision map.
Another object of the present invention is to provide a vehicle accurate position acquisition system, including:
the relative position information acquisition module is used for acquiring map landmark elements of the vehicle in a high-precision map and calculating the relative position information between the vehicle and the map landmark elements in the high-precision map in the automatic driving process of the vehicle;
the actual relative position information acquisition module is used for acquiring road sign elements corresponding to the map sign elements on the road in real time and calculating the actual relative position information between the vehicle and the road sign elements;
the signal value judging module is used for judging whether the positioning signal value of the vehicle is lower than a signal threshold value or not;
and the first adjusting module is used for adjusting the relative position information according to the actual relative position information when the positioning signal value of the vehicle is judged to be lower than the signal threshold value so as to obtain the accurate position of the vehicle on the high-precision map.
Further, the above-mentioned accurate position of vehicle obtains the system, wherein, the system still includes:
the distance judgment module is used for judging whether the distance between the position of the vehicle on the high-precision map and the position of the vehicle on the road meets a preset distance threshold value according to the relative position information and the actual relative position information;
and the calculating module is used for calculating a track by combining navigation and a wheel speed meter to obtain the current position of the vehicle on the high-precision map when the distance between the position of the vehicle on the high-precision map and the position of the vehicle on the road is judged to meet a preset distance threshold.
Further, the above-mentioned accurate position of vehicle obtains the system, wherein, the actual relative position information acquisition module includes:
the matching unit is used for acquiring road sign elements on a road and matching the road sign elements according to the map road sign elements to acquire the road sign elements corresponding to the map road sign elements.
Further, the above-mentioned accurate position of vehicle obtains the system, wherein, the system still includes:
the time judgment module is used for judging whether the duration time that the positioning signal value is lower than the signal threshold value is longer than a preset time threshold value or not;
and the position determining module is used for acquiring the position information of the positioning identifier and the pose information of the vehicle in two continuous frames of images and determining the position information of the vehicle when the duration that the positioning signal value is lower than the signal threshold is longer than a preset time threshold.
Further, the above-mentioned accurate position of vehicle obtains the system, wherein, the system still includes:
and the second adjusting module is used for adjusting the relative position information according to the position information of the vehicle so as to acquire the accurate position of the vehicle on the high-precision map.
It is a further object of embodiments of the invention to provide a readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the steps of the method as described above.
It is a further object of embodiments of the invention to provide a vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method as described above when executing the program.
According to the embodiment of the invention, the position information of the vehicle on the high-precision map and the map road sign elements and the actual relative position information of the vehicle on the actual road and the road sign elements corresponding to the map road sign elements are obtained in real time in the driving process of the vehicle, and the accurate position of the vehicle on the high-precision map is obtained by combining the relative position information and the actual relative position information under the condition of weak positioning signals, so that the problem of inaccurate positioning of the vehicle when the vehicle passes through a road section with weak positioning signals or no positioning signals in the prior art is solved.
Drawings
FIG. 1 is a flowchart of a vehicle accurate position acquisition method according to a first embodiment of the present invention;
FIG. 2 is a flowchart of a vehicle accurate position acquisition method according to a second embodiment of the present invention;
fig. 3 is a block diagram of a vehicle accurate position system according to a third embodiment of the present invention.
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Several embodiments of the invention are presented in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed types.
With the continuous development of society, automobiles enter thousands of households, and an unmanned automobile (hereinafter referred to as an unmanned automobile) is an intelligent automobile, can sense the surrounding environment of the automobile based on a vehicle-mounted navigation system, and controls the steering and the speed of the automobile according to the road, the automobile position and the obstacle information obtained by sensing, so that the automobile can safely and reliably run on the road. The positioning technology is a key technology of the vehicle-mounted navigation system, and driving control of the unmanned vehicle can be performed only by accurately acquiring positioning information of the unmanned vehicle. .
The high-precision map is a core technology of automatic driving, and is used as prior information for positioning vehicles, and the vehicles can obtain self positioning information in real time through the high-precision map. At present, an existing unmanned vehicle Positioning method is mainly to perform Positioning through a vehicle-mounted Global Positioning System (GPS), and further, driving control of an unmanned vehicle is not realized according to Positioning information of the unmanned vehicle. However, when the unmanned vehicle passes through a road section with weak GPS positioning signals or no positioning signals, the problem of inaccurate positioning of the vehicle can occur.
The following will describe in detail how to solve the problem that when a vehicle passes through a section with a weak or no positioning signal, the positioning may be inaccurate.
Example one
Referring to fig. 1, a method for obtaining a precise position of a vehicle according to a first embodiment of the present invention is shown, and the method includes steps S10-S13.
Step S10, in the automatic driving process of the vehicle, obtaining map and road sign elements of the vehicle in the high-precision map, and calculating the relative position information between the vehicle and the map and road sign elements in the high-precision map.
The map road marking elements comprise but are not limited to lane lines, pedestrian crossing lines, traffic lights and traffic signs, and the relative position information at least comprises the directions and specific distances between the vehicles in the high-precision map and the map road marking elements.
And step S11, acquiring road sign elements corresponding to the map sign elements on the road in real time, and calculating the actual relative position information between the vehicle and the road sign elements.
The method comprises the steps of obtaining road sign elements corresponding to map sign elements on a road, calculating actual relative position information between a vehicle and the road sign elements, comparing the actual relative position information and the relative position information obtained by using the corresponding map sign elements and the corresponding road sign elements as references, and judging whether the current vehicle is under the condition of inaccurate positioning.
In addition, in some optional embodiments of the present invention, the step of determining whether the locating signal value of the vehicle is lower than the signal threshold further comprises:
judging whether the distance between the position of the vehicle on the high-precision map and the position of the vehicle on the road meets a preset distance threshold value or not according to the relative position information and the actual relative position information;
if not, the current position of the vehicle on the high-precision map is obtained by combining navigation and wheel speed meter to calculate the track.
It can be understood that, a distance difference between the position of the vehicle on the high-precision map and the position of the vehicle on the road can be obtained according to the relative position information and the actual relative position information, and it can be determined whether the current vehicle is successfully tracked, that is, whether the current vehicle exists on the high-precision map, if the distance between the position of the high-precision map and the position of the vehicle on the road does not satisfy a preset distance threshold, it indicates that the vehicle is lost on the high-precision map, and in order to normally determine the position of the vehicle, it is necessary to re-obtain the position of the vehicle on the high-precision map, and specifically, the current position of the vehicle on the high-precision map is obtained by combining navigation and wheel speed meter for trajectory estimation.
Step S12, judging whether the positioning signal value of the vehicle is lower than a signal threshold value; if yes, go to step S13.
In this embodiment, the positioning signal value is a GPS signal value, and when the GPS signal value is lower than the signal threshold, it indicates that the GPS signal value is poor at this time, which may affect the accuracy of positioning the current vehicle on the high-precision map.
And step S13, adjusting the relative position information according to the actual relative position information to acquire the accurate position of the vehicle on the high-precision map.
Specifically, since the actual relative position information is obtained by collecting the road sign elements on the road through the camera on the vehicle, the obtained actual relative position information is accurate no matter in the case of weak GPS or no GPS, and the relative position information can be adjusted through the actual relative position information to obtain the position of the vehicle on the high-precision map, that is, the accurate position of the vehicle on the high-precision map.
In summary, in the method for obtaining an accurate position of a vehicle in the above embodiment of the present invention, in the driving process of the vehicle, the position information of the vehicle on the high-precision map and the map landmark elements and the actual relative position information of the vehicle on the actual road and the landmark elements corresponding to the map landmark elements are obtained in real time, and in the case of a weak positioning signal, the accurate position of the vehicle on the high-precision map is obtained by combining the relative position information and the actual relative position information, so that the problem of inaccurate positioning of the vehicle when the vehicle passes through a road segment with a weak positioning signal or without a positioning signal in the prior art is solved.
Example two
Referring to fig. 2, a method for obtaining a precise position of a vehicle according to a second embodiment of the present invention is shown, and the method includes steps S20-S25.
Step S20, in the automatic driving process of the vehicle, obtaining map and road sign elements of the vehicle in the high-precision map, and calculating the relative position information between the vehicle and the map and road sign elements in the high-precision map.
And step S21, acquiring road sign elements corresponding to the map sign elements on the road in real time, and calculating the actual relative position information between the vehicle and the road sign elements.
Step S22, judging whether the positioning signal value of the vehicle is lower than a signal threshold value; if yes, go to step S23.
Step S23, adjusting the relative position information according to the actual relative position information to obtain the accurate position of the vehicle on the high-precision map;
step S24, judging whether the duration time of the positioning signal value lower than the signal threshold value is longer than a preset time threshold value; if yes, go to step S25.
In practical situations, such as underground garages or remote areas, where the GPS signal covers a small area, a weak GPS or no GPS may occur for a long time, and due to the high repeatability, difficulty in identifying, inaccurate positioning and the like of the existing road marking elements, under the condition of weak GPS for a long time or no GPS, the high-precision positioning is difficult to be stably provided for a long time simply by the prior map road marking elements, therefore, it is necessary to add a simple-identification and accurate-positioning mark to perform accurate positioning on the basis of the map elements, specifically, a plurality of positioning marks are arranged on the road, and the positioning marks are used for identifying and acquiring the vehicle when the vehicle is running so as to acquire the current positioning information of the vehicle, wherein, the positioning mark can also adopt a two-dimensional code mode, and the two-dimensional code is stored with related information, for example, the specific road section where the positioning identifier is located can be directly obtained by obtaining the two-dimensional code of the positioning identifier.
And step S25, acquiring the position information of the positioning mark and the pose information of the vehicle in two continuous frames of images, and determining the position information of the vehicle.
In the embodiment, the vehicle is provided with the camera, the camera collects the positioning identifier in the driving process of the vehicle, the position change information of the positioning identifier in the image is estimated, and therefore the three-dimensional coordinate of the vehicle in the high-precision map and the position information of the vehicle are determined.
And step S26, adjusting the relative position information according to the position information of the vehicle to acquire the accurate position of the vehicle on the high-precision map.
And adjusting the relative position information through the acquired accurate position information of the vehicle to acquire the accurate position of the vehicle on the high-precision map. In summary, in the vehicle accurate position obtaining method in the above embodiment of the present invention, in the vehicle driving process, the position information of the vehicle on the high-precision map and the map road marking elements and the actual relative position information of the vehicle on the actual road and the road marking elements corresponding to the map road marking elements are obtained in real time, in the case of a weak positioning signal, the accurate position of the vehicle on the high-precision map is obtained by combining the relative position information and the actual relative position information, and when it is determined that the vehicle is in a long-time GPS signal weak or no GPS signal, the accurate position of the vehicle is determined by obtaining the position information of the positioning identifier and the pose information of the vehicle in two consecutive frames of images, so as to solve the problem in the prior art that the vehicle is inaccurate in positioning when the vehicle passes through a road segment with a weak positioning signal or no positioning signal.
EXAMPLE III
Referring to fig. 3, a vehicle accurate position acquiring system according to a third embodiment of the present invention is shown, the system includes:
a relative position information obtaining module 100, configured to obtain map landmark elements of a vehicle in a high-precision map during automatic driving of the vehicle, and calculate relative position information between the vehicle and the map landmark elements in the high-precision map;
an actual relative position information obtaining module 200, configured to obtain, in real time, a road marking element corresponding to the map marking element on the road, and calculate actual relative position information between the vehicle and the road marking element;
a signal value judging module 300, configured to judge whether a positioning signal value of the vehicle is lower than a signal threshold;
a first adjusting module 400, configured to adjust the relative position information according to the actual relative position information when it is determined that the positioning signal value of the vehicle is lower than a signal threshold, so as to obtain an accurate position of the vehicle on the high-precision map.
Further, the above-mentioned accurate position of vehicle obtains the system, wherein, the system still includes:
the distance judgment module is used for judging whether the distance between the position of the vehicle on the high-precision map and the position of the vehicle on the road meets a preset distance threshold value according to the relative position information and the actual relative position information;
and the calculating module is used for calculating a track by combining navigation and a wheel speed meter to obtain the current position of the vehicle on the high-precision map when the distance between the position of the vehicle on the high-precision map and the position of the vehicle on the road is judged to meet a preset distance threshold.
Further, the above-mentioned accurate position of vehicle obtains the system, wherein, the actual relative position information acquisition module includes:
the matching unit is used for acquiring road sign elements on a road and matching the road sign elements according to the map road sign elements to acquire the road sign elements corresponding to the map road sign elements.
Further, in some optional embodiments of the present invention, wherein the system further comprises:
the time judgment module is used for judging whether the duration time that the positioning signal value is lower than the signal threshold value is longer than a preset time threshold value or not;
and the position determining module is used for acquiring the position information of the positioning identifier and the pose information of the vehicle in two continuous frames of images and determining the position information of the vehicle when the duration that the positioning signal value is lower than the signal threshold is longer than a preset time threshold.
Further, the above-mentioned accurate position of vehicle obtains the system, wherein, the system still includes:
and the second adjusting module is used for adjusting the relative position information according to the position information of the vehicle so as to acquire the accurate position of the vehicle on the high-precision map.
The functions or operation steps of the above modules when executed are substantially the same as those of the above method embodiments, and are not described herein again.
Example four
Another aspect of the present invention also provides a readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing the steps of the method according to any one of embodiments 1 to 2 above.
EXAMPLE five
Another aspect of the present invention also provides a vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any one of embodiments 1 to 2 when executing the program.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
Those of skill in the art will understand that the logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be viewed as implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A vehicle accurate position acquisition method, characterized by comprising:
in the automatic driving process of a vehicle, obtaining map and landmark elements of the vehicle in a high-precision map, and calculating relative position information between the vehicle and the map and landmark elements in the high-precision map;
acquiring road sign elements corresponding to the map sign elements on a road in real time, and calculating actual relative position information between the vehicle and the road sign elements;
judging whether the positioning signal value of the vehicle is lower than a signal threshold value or not;
and if so, adjusting the relative position information according to the actual relative position information to acquire the accurate position of the vehicle on the high-precision map.
2. The vehicle accurate position acquisition method according to claim 1, wherein the step of determining whether the positioning signal value of the vehicle is lower than a signal threshold further comprises:
judging whether the distance between the position of the vehicle on the high-precision map and the position of the vehicle on the road meets a preset distance threshold value or not according to the relative position information and the actual relative position information;
if not, the current position of the vehicle on the high-precision map is obtained by combining navigation and wheel speed meter to calculate the track.
3. The method of claim 1, wherein the step of obtaining, in real time, the landmark elements on the road corresponding to the map landmark elements and calculating the actual relative position information between the vehicle and the landmark elements comprises:
and acquiring road sign elements on a road, and matching the road sign elements according to the map road sign elements to acquire the road sign elements corresponding to the map road sign elements.
4. The method according to claim 1, wherein a plurality of positioning marks are provided on the road, and the step of determining whether the positioning signal value of the vehicle is lower than the signal threshold further comprises:
judging whether the duration of the positioning signal value lower than the signal threshold is longer than a preset time threshold or not;
if yes, acquiring the position information of the positioning mark and the pose information of the vehicle in two continuous frames of images, and determining the position information of the vehicle.
5. The method according to claim 4, wherein the step of acquiring the position information of the positioning mark and the pose information of the vehicle in two consecutive images further comprises the following steps:
and adjusting the relative position information according to the position information of the vehicle to acquire the accurate position of the vehicle on the high-precision map.
6. A vehicle accurate position acquisition system, the system comprising:
the relative position information acquisition module is used for acquiring map landmark elements of the vehicle in a high-precision map and calculating the relative position information between the vehicle and the map landmark elements in the high-precision map in the automatic driving process of the vehicle;
the actual relative position information acquisition module is used for acquiring road sign elements corresponding to the map sign elements on the road in real time and calculating the actual relative position information between the vehicle and the road sign elements;
the signal value judging module is used for judging whether the positioning signal value of the vehicle is lower than a signal threshold value or not;
and the first adjusting module is used for adjusting the relative position information according to the actual relative position information when the positioning signal value of the vehicle is judged to be lower than the signal threshold value so as to obtain the accurate position of the vehicle on the high-precision map.
7. The vehicle precise position acquisition system according to claim 6, characterized in that the system further comprises:
the distance judgment module is used for judging whether the distance between the position of the vehicle on the high-precision map and the position of the vehicle on the road meets a preset distance threshold value according to the relative position information and the actual relative position information;
and the calculating module is used for calculating a track by combining navigation and a wheel speed meter to obtain the current position of the vehicle on the high-precision map when the distance between the position of the vehicle on the high-precision map and the position of the vehicle on the road is judged to meet a preset distance threshold.
8. The vehicle accurate position acquisition system according to claim 6, characterized in that the actual relative position information acquisition module includes:
the matching unit is used for acquiring road sign elements on a road and matching the road sign elements according to the map road sign elements to acquire the road sign elements corresponding to the map road sign elements.
9. A readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the steps of the method according to any one of claims 1 to 5.
10. A wireless charging apparatus, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method according to any one of claims 1 to 5 when executing the program.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116380107A (en) * | 2023-05-29 | 2023-07-04 | 速度科技股份有限公司 | System for positioning vehicle based on high-precision map |
| CN116466382A (en) * | 2023-04-24 | 2023-07-21 | 贵州一招信息技术有限公司 | GPS-based high-precision real-time positioning system |
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