CN114459493A - Navigation yaw confirmation method, device, equipment and storage medium - Google Patents
Navigation yaw confirmation method, device, equipment and storage medium Download PDFInfo
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The disclosure relates to a navigation yaw confirmation method, a navigation yaw confirmation device, navigation yaw confirmation equipment and a storage medium. The method comprises the step of matching the current positioning position of the navigated object with map network data with first precision to obtain a first road section matched with the current positioning position. And respectively matching the current positioning position of the navigated object with the map network data and the navigation planning route with the second precision to obtain a cruise matching result and a navigation matching result. And determining a second road section matched with the first road section in the map road network data with the second precision according to the mapping relation between the map road network data with the first precision and the map road network data with the second precision. The cruise matching result is calibrated through the second road section, and the calibrated cruise matching result can be guaranteed to be accurate. And comparing the navigation matching result with the calibrated cruise matching result, whether the navigated object deviates from the navigation planning route can be judged in time, and a new navigation route can be planned in time, so that the user experience is improved.
Description
Technical Field
The present disclosure relates to the field of information technology, and in particular, to a method, an apparatus, a device, and a storage medium for confirming navigation yaw.
Background
With the continuous development of science and technology, intelligent terminals have become indispensable devices in people's daily life. The user can install various different types of Application (APP) programs on the intelligent terminal so as to meet different requirements of the user.
Travel-class applications, such as map navigation applications, are widely used. Generally, a map navigation application program can not only plan a navigation route from a starting point to a destination, but also guide a navigated object to travel along the navigation route based on the positioning position of the navigated object, and generally identify the positioning position of the navigated object on the navigation route in order to make the navigated object know the positioning position of the navigated object on the navigation route.
However, the inventor of the present application finds that in some scenarios, in the process of driving the navigated object along the navigation route, yaw may occur (i.e., driving along a road that is not planned along the navigation route), and the accuracy of the position of the navigated object determined based on the existing positioning technology is not sufficient, so that the map navigation application cannot timely determine that yaw occurs in the navigated object, and further, the map navigation application cannot timely plan a new navigation route for the navigated object after the navigated object yaws, which causes damage to user experience.
Disclosure of Invention
In order to solve the technical problem or at least partially solve the technical problem, the present disclosure provides a method, an apparatus, a device, and a storage medium for confirming a navigation deviation, so as to timely determine whether a navigated object deviates from a navigation planning route, and plan a new navigation route for the navigated object once the navigated object deviates, thereby improving user experience.
In a first aspect, an embodiment of the present disclosure provides a method for confirming navigation yaw, including:
matching the current positioning position of the navigated object with map network data with first precision to obtain a first road section matched with the current positioning position;
matching the current positioning position of the navigated object with the map road network data and the navigation planning route of the second precision respectively to obtain a cruise matching result and a navigation matching result;
determining a second road section matched with the first road section in the map road network data with second precision according to the mapping relation between the map road network data with first precision and the map road network data with second precision, wherein the first precision is higher than the second precision;
calibrating a cruise matching result according to the second path;
comparing the navigation matching result with the calibrated cruise matching result to determine whether the navigated object deviates from the navigation plan route.
In a second aspect, an embodiment of the present disclosure provides a device for confirming navigation yaw, including:
the first matching module is used for matching the current positioning position of the navigated object with map network data with first precision to obtain a first road section matched with the current positioning position;
the second matching module is used for respectively matching the current positioning position of the navigated object with the map road network data and the navigation planning route with the second precision to obtain a cruise matching result and a navigation matching result;
the determining module is used for determining a second road section matched with the first road section in the map road network data with second precision according to the mapping relation between the map road network data with first precision and the map road network data with second precision, wherein the first precision is greater than the second precision;
the calibration module is used for calibrating the cruise matching result according to the second road section;
and the comparison module is used for comparing the navigation matching result with the calibrated cruise matching result so as to determine whether the navigated object deviates from the navigation planning route.
In a third aspect, an embodiment of the present disclosure provides an electronic device, including:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of the first aspect.
In a fourth aspect, the present disclosure provides a computer-readable storage medium, on which a computer program is stored, the computer program being executed by a processor to implement the method of the first aspect.
According to the method, the device, the equipment and the storage medium for confirming the navigation yaw, the current positioning position of the navigated object is matched with the map network data with the first precision, and the first road section matched with the current positioning position is obtained. And in addition, the current positioning position of the navigated object is respectively matched with the map road network data and the navigation planning route with the second precision to obtain a cruise matching result and a navigation matching result. Further, according to the mapping relation between the map road network data with the first precision and the map road network data with the second precision, a second road section matched with the first road section in the map road network data with the second precision is determined. Since the first precision is greater than the second precision, the first road segment represents a more accurate road segment where the navigation object is located in the map road network data of the first precision, and the second road segment represents a more accurate road segment where the navigation object is located in the map road network data of the second precision. The cruise matching result may be accurate or inaccurate due to the lower second precision, and therefore, the cruise matching result after calibration can be guaranteed to be accurate by calibrating the cruise matching result on the second road section. And comparing the navigation matching result with the calibrated cruise matching result, judging whether the navigated object deviates from the navigation planning route in time, and planning a new navigation route for the navigated object once the navigated object deviates, thereby improving the user experience.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is a schematic diagram of a user interface provided by an embodiment of the present disclosure;
fig. 2 is a schematic diagram of an application scenario provided by an embodiment of the present disclosure;
FIG. 3 is a flowchart of a method for determining navigation yaw provided by an embodiment of the present disclosure;
fig. 4 is a schematic diagram of an application scenario provided in another embodiment of the present disclosure;
fig. 5 is a schematic diagram of an application scenario provided by another embodiment of the present disclosure;
FIG. 6 is a flow chart of a method for determining navigation yaw provided by another embodiment of the present disclosure;
FIG. 7 is a schematic view of a lane group provided by another embodiment of the present disclosure;
fig. 8 is a schematic diagram of an application scenario provided in another embodiment of the present disclosure;
fig. 9 is a schematic diagram of an application scenario provided in another embodiment of the present disclosure;
fig. 10 is a schematic diagram of an application scenario provided in another embodiment of the present disclosure;
FIG. 11 is a schematic structural diagram of a device for confirming navigation yaw provided by an embodiment of the present disclosure;
fig. 12 is a schematic structural diagram of an embodiment of an electronic device provided in the embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
Generally, a map navigation application program can not only plan a navigation route from a starting point to a destination, but also guide a navigated object to travel along the navigation route based on the positioning position of the navigated object, and generally identify the positioning position of the navigated object on the navigation route in order to make the navigated object know the positioning position of the navigated object on the navigation route. However, in the process of driving the navigated object along the navigation route, yaw may occur (i.e., driving along a road not planned along the navigation route), and the accuracy of the position of the navigated object determined based on the existing positioning technology is not sufficient, so that the map navigation application program cannot timely determine that yaw occurs in the navigated object, and further, the map navigation application program cannot timely plan a new navigation route for the navigated object after the navigated object yaws, which causes damage to user experience.
As shown in fig. 1, a map navigation application may be installed in the terminal 21, and a user interface of the map navigation application may be displayed on a display component of the terminal 21. The display component may be a screen. The display component may be integrated in the terminal 21. Or the display assembly and the terminal 21 may be separate from each other and may be communicatively connected by wire or wirelessly. When the user travels, the user may input a start point and a destination on a user interface of the map navigation application. Specifically, the present embodiment does not limit the specific input manner of the starting point and the destination, and for example, the user may input the name or the identification of the starting point in the starting point input box 22 of the user interface and the name or the identification of the destination in the destination input box 23 of the user interface. Alternatively, the user interface may display an electronic map 24, and the user may select the starting point a and the destination B on the electronic map 24. Alternatively, the starting point a may default to the current location position of the terminal 21. Further, the map navigation application may plan a navigation route from the start point a to the destination B according to the start point and the destination input by the user. Further, the map navigation application may also identify the navigation route in an electronic map displayed by the user interface.
During driving, walking or riding along the navigation route with the terminal 21 carried by the user, the user and/or the terminal 21 may be the object to be navigated. In addition, in some other scenarios, a map navigation application may be installed in a vehicle-mounted device, such as a vehicle-mounted device, and therefore the vehicle-mounted device may also serve as a navigated object. For example, the terminal 21 in the driving scene is schematically described as an example of the object to be navigated.
As shown in fig. 2, the user carries the terminal 21 to drive along the currently used navigation route, that is, the user and the terminal 21 are mounted in the vehicle 30, and the navigation route is displayed on the screen of the terminal 21 and the user is prompted to drive along the navigation route. It is understood that the navigation route may be composed of a plurality of segments, and the segment 31 where the vehicle 30 is currently located is one segment included in the navigation route. There is a branch point in the route 31, and when the vehicle 30 travels to the branch point, the user may temporarily switch the route according to the actual situation, and enter the branch path 32. However, after the vehicle 30 enters the branch road 32, the map navigation application cannot plan a new navigation route in time. For example, an arrow in the section 31 represents a current navigation route of the terminal 21, and a circle of a dotted line represents a location position of the terminal 21, which may be a position of the terminal 21 determined based on an existing location technology. When the vehicle 30 enters the branch road 32, the positioning position of the terminal 21 may also match the current navigation route of the terminal 21 because the positioning position of the terminal 21 has insufficient accuracy, and therefore, the terminal 21 may not plan a new navigation route in time. When the vehicle 30 is continuously driving along the branch path 32, the positioning position of the terminal 21 is continuously deviated from the current navigation route of the terminal 21, and when the deviation degree causes the positioning position of the terminal 21 not to match the current navigation route of the terminal 21, the terminal 21 plans a new navigation route. For example, the map navigation application may not plan a new navigation route until the location of the B point after the vehicle 30 enters the branch 32, e.g., the arrow on the branch 32 indicates the planned new navigation route. At this time, the actual position of the vehicle 30 is already far from the fork. For example, when the vehicle 30 travels to the B point location, the vehicle 30 has traveled forward from the branch along the branch path 32 for 30 seconds, greater than 500 meters, thus degrading the user experience.
To address this problem, embodiments of the present disclosure provide a method for confirming navigation yaw, which is described below with reference to specific embodiments.
Fig. 3 is a flowchart of a method for confirming navigation yaw according to an embodiment of the present disclosure. The method can be executed by a navigation yaw confirmation device, which can be implemented in software and/or hardware, and can be configured in electronic equipment, such as a terminal, an on-board device, a server, and the like, where the terminal specifically includes a mobile phone, a computer, a tablet computer, and the like. The following describes the navigation yaw confirmation method by taking a terminal as an example. In addition, the method for confirming navigation yaw according to the embodiment can be applied to application scenarios such as driving navigation, walking navigation, riding navigation and unmanned navigation. As shown in fig. 3, the method comprises the following specific steps:
s301, matching the current positioning position of the navigated object with map network data with first precision to obtain a first road segment matched with the current positioning position.
For example, the terminal in the vehicle 30 is used as a navigated object, and the terminal may receive the positioning signal and determine the positioning position according to the positioning signal, and it may be understood that the terminal may continuously receive the positioning signal during the moving process of the vehicle 30 and determine the current positioning position according to the currently received positioning signal. The positioning signal may be a high-precision position signal, which is a signal with a positioning precision reaching a centimeter level, and may be, for example, a carrier-time kinematic (RTK) signal or a multi-sensor fusion signal. The high-precision position signal can comprise a positioning position, and the positioning position can be longitude and latitude information.
Specifically, the Map network data with the first precision may be stored in a database or a server, and the terminal may obtain the Map network data with the first precision from the database or the server, where the Map network data with the first precision may specifically be High Definition (HD) Map (Map) network data, and the HD Map network data includes very rich traffic semantic elements such as lane boundary geometry, lane type, lane direction, curvature, and traffic sign, street lamp, traffic light, and the like. Further, the terminal may match the current positioning position with the HD Map road network data to obtain a first road segment matched with the current positioning position, where the first road segment is marked as HD Link1, that is, the first road segment is a road segment in the HD Map road network data. Or, the terminal may send its current location position to a database or server storing HD Map road network data, so that the database or server may match the current location position of the terminal with the HD Map road network data to obtain a first road segment matched with the current location position, and send related information of the first road segment to the terminal.
S302, matching the current positioning position of the navigated object with the map network data and the navigation planning route with the second precision respectively to obtain a cruise matching result and a navigation matching result.
For example, the present embodiment further relates to map road network data with the second precision, and the map road network data with the second precision may specifically be Standard Definition (SD) map road network data. That is, the first accuracy is higher than the second accuracy. Specifically, the HD Map road network data and the SD Map road network data may be stored in the same database or server, or may be stored in different databases or servers. For example, as shown in fig. 4, HD Map road network data is stored in the server 41, SD Map road network data is stored in the server 42, and the terminal 21 can communicate with the server 41 and the server 42, respectively.
As shown in fig. 4, the SD Map data is stored in the server 42, and the terminal 21 can communicate with the server 42, so that the terminal 21 can obtain the SD Map data from the server 42 and match the current location position of the terminal 21 with the SD Map data to obtain the cruise matching result. Alternatively, the terminal 21 may transmit its current location position to the server 42, so that the server 42 may match the current location position of the terminal 21 with the SD Map road network data to obtain a cruise matching result, and transmit the cruise matching result to the terminal 21.
In addition, the present embodiment records the current navigation route of the terminal 21 as the navigation planning route. The terminal 21 may also match the current location position with the navigation planning route to obtain a navigation matching result.
S303, determining a second road section matched with the first road section in the map road network data with second precision according to the mapping relation between the map road network data with first precision and the map road network data with second precision, wherein the first precision is higher than the second precision.
Specifically, there is a Mapping relationship between the Link information in the HD Map network data and the Link information in the SD Map network data, and the Mapping relationship may be referred to as Mapping data, and specifically, the Mapping data may be stored in the server 41 or the server 42, or may be stored in another server 43 as shown in fig. 4.
For example, when the terminal 21 acquires the relevant information of the first road segment, the relevant information of the first road segment may be sent to the server 43, so that the server 43 may determine, according to the mapping relationship as described above, a second road segment in the SD Map road network data, which matches the first road segment, and send the relevant information of the second road segment to the terminal 21. Alternatively, the terminal 21 may obtain the mapping relationship from the server 43, and determine the second road segment matching the first road segment in the SD Map road network data according to the mapping relationship. This second path segment may be denoted as SD Link 2.
And S304, calibrating the cruise matching result according to the second road section.
For example, the cruise match result may be denoted as SD Link21, and the navigation match result may be denoted as SD Link 22. The terminal 21 may first compare the second Link with the cruise matching result, and if the SD Link2 and the SD Link21 are different, the terminal 21 may calibrate the cruise matching result according to the SD Link2 to obtain the calibrated cruise matching result.
S305, comparing the navigation matching result with the calibrated cruise matching result to determine whether the navigated object deviates from the navigation planning route.
For example, the terminal 21 may further compare the navigation matching result SD Link22 with the calibrated cruise matching result SD Link2, and if the SD Link22 and the SD Link2 are consistent, determine that the terminal 21 does not deviate from the current navigation route, i.e., the navigation plan route. If the SD Link22 and the SD Link2 do not coincide, it is determined that the terminal 21 has deviated from the current navigation route, i.e., the navigation plan route.
According to the embodiment of the disclosure, the current positioning position of the navigated object is matched with the map network data with the first precision, so that the first road section matched with the current positioning position is obtained. And in addition, the current positioning position of the navigated object is respectively matched with the map road network data and the navigation planning route with the second precision to obtain a cruise matching result and a navigation matching result. Further, according to the mapping relation between the map road network data with the first precision and the map road network data with the second precision, a second road section matched with the first road section in the map road network data with the second precision is determined. Since the first precision is greater than the second precision, the first road segment represents a more accurate road segment where the navigation object is located in the map road network data of the first precision, and the second road segment represents a more accurate road segment where the navigation object is located in the map road network data of the second precision. The cruise matching result may be accurate or inaccurate due to the lower second precision, and therefore, the cruise matching result after calibration can be guaranteed to be accurate by calibrating the cruise matching result on the second road section. And comparing the navigation matching result with the calibrated cruise matching result, judging whether the navigated object deviates from the navigation planning route in time, and planning a new navigation route for the navigated object once the navigated object deviates, thereby improving the user experience.
Fig. 5 is a schematic diagram illustrating another application scenario provided by the embodiment of the present disclosure. Each block within the dashed box 51 is a logical unit or block within the terminal 21 described above. Mapping shown in fig. 5 represents Mapping relationship between the road segment information in the HD Map road network data and the road segment information in the SD Map road network data according to the above-described embodiment, and specifically, the Mapping table data may be stored in the server 43 as described above. In addition, the HD Map shown in fig. 5 represents the HD Map road network data described in the above embodiment, which may be stored in the server 41 as described above. In addition, the SD Map shown in fig. 5 represents the SD Map road network data according to the above embodiment, which may be stored in the server 42 as described above. As shown in fig. 4, since the terminal 21 can communicate with the server 41, the server 42, and the server 43, the terminal 21 can access the mapping table data, the HD Map road network data, and the SD Map road network data at any time, so that each module in the dashed line frame 51 can implement the navigation yaw confirmation method according to the embodiment of the present disclosure by combining the mapping table data, the HD Map road network data, and the SD Map road network data. The method is described below with reference to fig. 5.
Fig. 6 is a flowchart of a method for confirming navigation yaw according to another embodiment of the present disclosure. As shown in fig. 6, the method includes the following steps:
s601, matching the current positioning position of the navigated object with map network data with first precision to obtain a first road section matched with the current positioning position.
In a possible implementation manner, matching a current positioning position of a navigated object with map network data of a first precision to obtain a first road segment matching the current positioning position includes: matching the historical positioning position of the navigated object with the map network data with the first precision to obtain first lane group information matched with the historical positioning position; determining one or more second lane group information matched with the current positioning position according to the variation of the current positioning position of the navigated object relative to the historical positioning position, the first lane group information and the lane topological relation; and determining a first road section matched with the current positioning position according to the one or more second lane group information. Specifically, determining a first road segment matching the current positioning position according to the one or more second lane group information includes: if the number of the second lane group information is one, taking a road section matched with the second lane group information in the map road network data with the first precision as the first road section; if the number of the second lane group information is multiple, determining target lane group information from the multiple second lane group information through a particle filter algorithm, and taking a road section matched with the target lane group information in the map network data with the first precision as the first road section.
It can be understood that, since the accuracy of the HD Map network data is higher than that of the SD Map network data, the HD Map network data includes more information, for example, fig. 7 is a schematic diagram of a lane group corresponding to a certain road segment (Link) in the HD Map network data, for example, the lane group corresponding to the road segment includes 71, 72, and 73 as shown in fig. 7. Here, 71 denotes a road edge (border line). The line 72 represents a lane boundary, and the corresponding centroid of the road segment may be superimposed on the lane boundary 72. And 73 denotes lane lines, and the dashed lane lines indicate that the vehicle can change lanes to travel on different lanes of the road segment. It is understood that the lane group shown in fig. 7 is only an illustrative illustration and is not limited to a specific one, and in other scenarios or embodiments, the lane group may include other lines. Therefore, the lane group information corresponding to the link may be the related information of each line in the lane group as shown in fig. 7. The HD Map road network data is constructed by taking the lane group information as a unit, and different lane groups are different in length.
For example, as shown in fig. 5, the high-precision position signal received by the terminal 21 may be input to an Operational Design area (ODD) module. The high-precision position signal comprises a high-precision positioning position. The ODD module can match the high-precision positioning position with the HD Map road network data according to a matching algorithm, so that the ODD module can identify which road or road section the vehicle runs on at present with very high accuracy, and when the ODD module identifies that the vehicle runs on one road or road section with the HD Map road network data, the ODD module can output the corresponding lane group information of the road or road section in the HD Map road network data. The matching algorithm can be a dynamic programming scoring model, the dynamic programming scoring model can deduce the scoring condition of the hidden variable through the observed quantity, and the main body comprises an emission model and a transfer model; the emission model describes the scoring condition of the observed quantity under the condition of known hidden variables; the transfer model is a zero-one matrix and describes whether the hidden variable in the previous step can be communicated with the current hidden variable; the main observed quantities are: the position relation, the direction difference, the communication relation and the like of the high-precision position signal and the road.
For example, the terminal 21 receives a high-accuracy position signal at a point C shown in fig. 8, the positioning position included in the high-accuracy position signal may be recorded as a historical positioning position, and the ODD module may match the historical positioning position with the HD Map road network data to obtain first lane group information matched with the historical positioning position, where the first lane group information is, for example, lane group information corresponding to the road segment 31. Further, the ODD module may provide the first Lane group information to a Lane Line tracking module (Lane Line Tracker) as shown in fig. 5. Assuming that the vehicle moves to the point a at the current time, the terminal 21 receives a high-precision position signal at the point a, the high-precision position signal includes the current location position of the terminal 21, and the lane line tracking module may determine one or more second lane group information matching the current location position according to the variation of the current location position with respect to the historical location position, the first lane group information, and the lane topology relationship. The lane topological relation here may be a lane topological relation in the HD Map road network data, and the lane topological relation includes a topological relation of a lane group and a topological relation of lanes. The topological relation of the lane group may include an upstream lane group and a downstream lane group of the road segment 31, and the topological relation of the lane may include an upstream lane and a downstream lane of each lane in the road segment 31. For example, as shown in fig. 8, since the point a is a branch point, there are two pieces of second lane group information matching the current positioning position, which are lane group information corresponding to the link 31 and lane group information corresponding to the branch road 32.
Further, the lane line tracking module may provide the one or more second lane group information it outputs to the semantic fusion module as shown in fig. 5. Specifically, when the lane line tracking module outputs a second lane group information, the semantic fusion module may determine on which lane the vehicle is currently driving according to the second lane group information and the current location position of the terminal 21, so as to output a lane-level matching result, where the lane-level matching result indicates on which lane the vehicle is currently driving. When the lane line tracking module outputs a plurality of pieces of second lane group information, the semantic fusion module may select one piece of second lane group information from the plurality of pieces of second lane group information according to a particle filter algorithm, and the second lane group information selected by the particle filter algorithm may be recorded as target lane group information. Specifically, the inputs of the particle filter algorithm may be the plurality of second lane group information and the current location position of the terminal 21, and the output of the particle filter algorithm may be a selected one of the second lane group information and the lane level matching result. Therefore, as shown in fig. 8, when the vehicle moves to the point a, and the lane line tracking module sends the lane group information corresponding to the road segment 31 and the branch road 32 to the semantic fusion module, because the semantic fusion module has a lane-level positioning function, the semantic fusion module can accurately determine that the vehicle is on the branch road 32, and feed back the lane group information corresponding to the branch road 32 as the target lane group information to the lane line tracking module, so that the lane line tracking module can eliminate invalid second lane group information from the plurality of second lane group information. Further, the lane line tracking module may take a road segment in the HD Map road network data that matches the target lane group information as the first road segment. For example, the first segment may be a lane boundary in the target lane group corresponding to the target lane group information, or the first segment may be a segment formed by a figure and a point superimposed on the lane boundary.
In some other embodiments, as shown in fig. 7, the terminal 21 receives a high-precision position signal at the point C, the positioning position included in the high-precision position signal is recorded as a historical positioning position, and the ODD module may match the historical positioning position with the HD Map road network data to obtain first lane group information matched with the historical positioning position, where the first lane group information is, for example, information of lane groups consisting of 71, 72, and 73. Further, the ODD module may provide the first Lane group information to a Lane Line tracking module (Lane Line Tracker) as shown in fig. 5. Assuming that the vehicle moves to point a at the current time, the terminal 21 receives a high-accuracy position signal at point a, the high-accuracy position signal includes the current positioning position of the terminal 21, and the lane line tracking module may determine, according to the variation of the current positioning position with respect to the historical positioning position, the first lane group information, and the lane topology relationship, the second lane group information matching the current positioning position, where a has no branch, and at this time, there is one second lane group information matching the current positioning position, that is, the information of the lane group consisting of 71, 72, and 73. Further, the lane line tracking module may provide the second lane group information to a semantic fusion module as shown in fig. 5, and the semantic fusion module may output a lane-level matching result according to the current location position of the terminal 21 and the second lane group information. In addition, the lane line tracking module may take a road segment in the HD Map road network data that matches the second lane group information as the first road segment.
It will be appreciated that in some embodiments, as shown in fig. 7 or 8, the terminal 21 receives one high accuracy position signal at point C, another high accuracy position signal at point a, and the terminal 21 may receive one or more additional high accuracy position signals during movement from point C to point a. From the amount of change in the position of each of the two adjacent high-precision position signals in the process from point C to point a, the amount of change in the positioning position of the terminal 21 at point a with respect to the positioning position of the terminal 21 at point C can be obtained. In addition, the first lane group information corresponding to the vehicle at the time point C can be obtained not only by matching the historical positioning positions of the terminals 21 at the time point C with the HD Map road network data as described above, but also in other embodiments, the first lane group information corresponding to the vehicle at the time point C can be obtained in a manner similar to the above-described manner of determining the target lane group information.
In another possible implementation manner, matching the current positioning position of the navigated object with the map network data with the first accuracy to obtain the first road segment matching the current positioning position includes: matching the current positioning position of the navigated object with map network data with first precision to obtain one or more second lane group information; and determining a first road section matched with the current positioning position according to the one or more second lane group information.
For example, as shown in fig. 8, when the vehicle moves from point C to point a, the terminal 21 receives the high-precision position signal to obtain the current positioning position, and at this time, the terminal 21 may match the current positioning position with the HD Map road network data to obtain one or more pieces of second lane group information. Further, according to the one or more second lane group information, a first road section matched with the current positioning position is determined. Specifically, the process of determining the first road segment matched with the current positioning position according to the one or more second lane group information may refer to the above implementation manner, and details are not repeated here.
And S602, respectively matching the current positioning position of the navigated object with the map network data and the navigation planned route with the second precision to obtain a cruise matching result and a navigation matching result.
For example, as shown in fig. 5, the high-precision position signal may be input to a precision map road-level matching Module (SD MM), and the SD MM Module may perform precision road matching including cruise matching and navigation matching according to the high-precision position signal. For example, the SD MM module includes a cruise matching sub-module and a navigation matching sub-module. The cruise matching may be performed by a cruise matching sub-module in the SD MM module, and the navigation matching may be performed by a navigation matching sub-module in the SD MM module.
Specifically, the cruise matching sub-module may match the current location position of the terminal 21 with the SD Map road network data, so as to obtain a third road segment in the SD Map road network data, where the third road segment is a cruise matching result, and the cruise matching result is recorded as SD Link 21.
The navigation matching sub-module may match the current location position of the terminal 21 with the navigation planning route, so as to obtain a fourth road segment in the navigation planning route, where the fourth road segment is a navigation matching result, and the navigation matching result is recorded as SD Link 22. The road-level matching result output by the SD MM comprises a cruise matching result and a navigation matching result. Wherein the navigation plan route may be determined based on the map network data of the second accuracy.
Further, the SD MM module may send the cruise match and the navigation match to the yaw plug-in as shown in FIG. 5.
S603, according to the mapping relation between the map road network data with the first precision and the map road network data with the second precision, determining a second road section matched with the first road section in the map road network data with the second precision, wherein the first precision is greater than the second precision.
For example, after the lane tracking module determines the first road segment, since the first road segment is a road segment in the HD Map road network data, the lane tracking module may determine a second road segment matching the first road segment from the SD Map road network data according to a mapping relationship between road segment information in the HD Map road network data and road segment information in the SD Map road network data, where the second road segment is denoted as SD Link2, that is, the second road segment is a road segment in the SD Map road network data, and a mapping relationship exists between the second road segment and the first road segment. Further, the lane line tracking module may send information regarding the second road segment, SD Link2, to the yaw plug-in as shown in FIG. 5.
S604, comparing the second road section with the cruise matching result, and if the second road section is different from the cruise matching result, obtaining a calibrated cruise matching result according to the second road section.
Due to the low precision of the SD Map road network data, the cruise matching result may or may not be accurate, that is, the SD Link21 may or may not be the road segment where the vehicle is actually located. Since the first road segment as described above is the road segment where the vehicle is currently actually located, and the first road segment in the HD Map road network data and the second road segment in the SD Map road network data match, the second road segment is also the road segment where the vehicle is currently actually located.
When the yaw plug-in shown in fig. 5 receives the second road segment, namely SD Link2, sent by the lane line tracking module, and the cruise matching result, namely SD Link21 and the navigation matching result SD Link22, provided by the SD MM module, the yaw plug-in may compare the second road segment with the cruise matching result, and if the second road segment is different from the cruise matching result, for example, SD Link2 and SD Link21 are different, the calibrated cruise matching result may be obtained according to the second road segment. As shown in fig. 9, 91 denotes road edges in the HD Map road network data, 92 denotes a superposition of the navigation planned route and the cruising roads in the SDMap road network data, 93 denotes the cruising roads in the SDMap road network data, and 94 denotes a high-precision position signal currently received by the terminal. 95 represents the cruise match result as described above, and 95 may be denoted as SD match segment 1. The reference numeral 96 denotes the second road segment, for example, the first road segment may be denoted as an HD matching segment, and the second road segment may be denoted as an SD matching segment 2 obtained after the HD matching segment is mapped to the SDMap road network data. Since the SD matching segment 1 and the SD matching segment 2 are different, a calibrated cruise matching result can be obtained from the SD matching segment 2. Specifically, the SD matching segment 2 is processed to obtain a calibrated cruise matching result, or the SD matching segment 2 may be used as the calibrated cruise matching result.
It is understood that the SD match segment 1 is the aforementioned SD Link21, and the SD match segment 2 is the aforementioned SD Link 2. Additionally, in other embodiments, if SD match segment 1 and SD match segment 2 are the same, then the calibrated cruise match is SD match segment 2, or it may be understood that the cruise match remains unchanged, i.e., the cruise match is not calibrated.
S605, if the navigation matching result is different from the calibrated cruise matching result, determining that the navigated object deviates from the navigation planning route.
For example, after the yaw plugin obtains the calibrated cruise matching result according to the second road segment, the navigation matching result is further compared with the calibrated cruise matching result, and if the navigation matching result is different from the calibrated cruise matching result, it is indicated that the vehicle deviates from the navigation planning route.
S606, replanning the navigation route according to the current positioning position of the navigated object.
For example, when the yaw plug-in determines that the vehicle has deviated from the navigation plan route, a request may be sent to the navigation matching sub-module, which may include information required to re-plan the navigation route, which may include the current location position of the vehicle, or may also include the direction of travel of the vehicle. Further, the navigation matching sub-module may request the server corresponding to the map navigation application program to re-plan the navigation route, or the terminal 21 may locally re-plan the navigation route.
In addition, in the case where the SD Link2 and the SD Link21 are the same, it is described that the cruise matching result is accurate, and at this time, the cruise matching result can be kept unchanged. The yaw plugin may further compare the navigation match result with the cruise match result, and if the navigation match result is the same as the cruise match result, the navigation route is not re-planned. If the navigation matching result and the cruise matching result are different, which indicates that the vehicle leaves the navigation planning route, the yaw plug-in module may send a request to the navigation matching sub-module, where the request may include information required for replanning the navigation route, where the information may include the current location position of the vehicle, or may also include the driving direction of the vehicle. Further, the navigation matching sub-module may request the server corresponding to the map navigation application program to re-plan the navigation route, or the terminal 21 may locally re-plan the navigation route. Further, the re-planned navigation route may be displayed on a screen of the terminal 21, and the terminal 21 may guide the user to travel along the re-planned navigation route.
In this embodiment, the re-planned navigation route may include the second road segment, SD Link 2.
In the embodiment of the present disclosure, since the HD Map network data has high accuracy, and by matching the positioning position of the vehicle with the HD Map network data, a lane-level matching result, that is, a lane on which the vehicle is currently located, can be obtained. Therefore, when the vehicle temporarily changes the road at the branch point as shown in fig. 10, the road segment matching the vehicle positioning position, for example, the branch road 32, can be accurately obtained from the HD Map road network data, so that the current navigation route (for example, indicated by the arrow in the road segment 31) of the vehicle can be accurately judged to be inconsistent with the branch road 32, which indicates that the vehicle leaves the current navigation route, and the navigation route can be re-planned in time. For example, as shown in fig. 10, the vehicle 30 may re-route the navigation route by traveling a short distance (e.g., 30 meters) for a short time (e.g., 2 seconds) forward along the branch path 32 via the branch point, for example, the arrow on the branch path 32 indicates the new navigation route being planned. That is, switching from the current navigation route to the new navigation route requires only a short time to complete.
In addition, on the basis of the above embodiment, the information required for replanning the navigation route may further include a yaw state, for example, when the yaw plug-in determines that the navigation matching result is different from the cruise matching result, or the navigation matching result is different from the calibrated cruise matching result, the yaw state may be assigned, so that the assigned yaw state may identify a cause type of replanning the navigation route, where the type may specifically refer to a replanning navigation route triggered when the method according to the embodiment of the present disclosure determines that the navigated object deviates from the navigation planning route.
Fig. 11 is a schematic structural diagram of a device for confirming navigation yaw provided in an embodiment of the present disclosure. The navigation yaw confirmation apparatus provided in the embodiment of the present disclosure may execute the processing procedure provided in the navigation yaw confirmation method embodiment, as shown in fig. 11, the navigation yaw confirmation apparatus 110 includes:
the first matching module 111 is configured to match a current location position of a navigated object with map network data of a first precision to obtain a first road segment matched with the current location position;
a second matching module 112, configured to match the current location position of the navigated object with the map network data and the navigation planned route with the second precision, respectively, to obtain a cruise matching result and a navigation matching result;
a determining module 113, configured to determine, according to a mapping relationship between the map network data with the first accuracy and the map network data with the second accuracy, a second road segment, which is matched with the first road segment, in the map network data with the second accuracy, where the first accuracy is greater than the second accuracy;
a calibration module 114 for calibrating the cruise matching result according to the second road segment;
a comparison module 115, configured to compare the navigation matching result with the calibrated cruise matching result to determine whether the navigated object deviates from the navigation plan route.
Optionally, when the calibration module 114 calibrates the cruise matching result according to the second road segment, the calibration module is specifically configured to: and comparing the second road section with the cruise matching result, and if the second road section is different from the cruise matching result, obtaining a calibrated cruise matching result according to the second road section.
Optionally, the first matching module 111 is specifically configured to, when matching the current location position of the navigated object with the map network data with the first accuracy to obtain the first road segment matched with the current location position:
matching the historical positioning position of the navigated object with the map network data with the first precision to obtain first lane group information matched with the historical positioning position;
determining one or more second lane group information matched with the current positioning position according to the variation of the current positioning position of the navigated object relative to the historical positioning position, the first lane group information and the lane topological relation;
and determining a first road section matched with the current positioning position according to the one or more second lane group information.
Optionally, the first matching module 111 is specifically configured to, when matching the current location position of the navigated object with the map network data with the first accuracy to obtain the first road segment matched with the current location position:
matching the current positioning position of the navigated object with map network data with first precision to obtain one or more second lane group information;
and determining a first road section matched with the current positioning position according to the one or more second lane group information.
Optionally, when the first matching module 111 determines the first road segment matched with the current positioning position according to the one or more second lane group information, the first matching module is specifically configured to:
if the number of the second lane group information is one, taking a road section matched with the second lane group information in the map road network data with the first precision as the first road section;
if the number of the second lane group information is multiple, determining target lane group information from the multiple second lane group information through a particle filter algorithm, and taking a road section matched with the target lane group information in the map network data with the first precision as the first road section.
Optionally, the comparing module 115 compares the navigation matching result with the calibrated cruise matching result to determine whether the navigated object deviates from the navigation planned route, specifically, when:
if the navigation matching result is different from the calibrated cruise matching result, determining that the navigated object deviates from the navigation planning route;
and replanning the navigation route according to at least the current positioning position of the navigated object.
Optionally, the re-planned navigation route comprises the second road segment.
The navigation yaw confirmation apparatus in the embodiment shown in fig. 11 may be used to implement the technical solutions of the above method embodiments, and the implementation principles and technical effects are similar, and are not described herein again.
The internal functions and structure of the confirmation apparatus for navigation yaw, which can be implemented as an electronic device, are described above. Fig. 12 is a schematic structural diagram of an embodiment of an electronic device provided in the embodiment of the present disclosure. As shown in fig. 12, the electronic device includes a memory 121 and a processor 122.
The memory 121 is used to store programs. In addition to the above-described programs, the memory 121 may also be configured to store other various data to support operations on the electronic device. Examples of such data include instructions for any application or method operating on the electronic device, contact data, phonebook data, messages, pictures, videos, and so forth.
The memory 121 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
The processor 122 is coupled to the memory 121 and executes the program stored in the memory 121 for:
matching the current positioning position of the navigated object with map network data with first precision to obtain a first road section matched with the current positioning position;
matching the current positioning position of the navigated object with the map road network data and the navigation planning route of the second precision respectively to obtain a cruise matching result and a navigation matching result;
determining a second road section matched with the first road section in the map road network data with second precision according to the mapping relation between the map road network data with first precision and the map road network data with second precision, wherein the first precision is higher than the second precision;
calibrating a cruise matching result according to the second path;
comparing the navigation matching result with the calibrated cruise matching result to determine whether the navigated object deviates from the navigation plan route.
Further, as shown in fig. 12, the electronic device may further include: communication components 123, power components 124, audio components 125, display 126, and other components. Only some of the components are schematically shown in fig. 12, and the electronic device is not meant to include only the components shown in fig. 12. The communication component 123 is configured to facilitate wired or wireless communication between the electronic device and other devices. The electronic device may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 123 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 123 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
A power supply component 124 that provides power to the various components of the electronic device. The power components 124 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for an electronic device.
The display 126 includes a screen, which may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.
In addition, the embodiment of the present disclosure also provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method for confirming navigation yaw described in the above embodiment.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method of navigation yaw confirmation, wherein the method comprises:
matching the current positioning position of the navigated object with map network data with first precision to obtain a first road section matched with the current positioning position;
matching the current positioning position of the navigated object with map network data and a navigation planning route of second precision respectively to obtain a cruise matching result and a navigation matching result;
determining a second road section matched with the first road section in the map road network data with second precision according to the mapping relation between the map road network data with first precision and the map road network data with second precision, wherein the first precision is higher than the second precision;
calibrating a cruise matching result according to the second path;
comparing the navigation matching result with the calibrated cruise matching result to determine whether the navigated object deviates from the navigation plan route.
2. The method of claim 1, wherein calibrating the cruise match results based on the second path segment comprises:
and comparing the second road section with the cruise matching result, and if the second road section is different from the cruise matching result, obtaining a calibrated cruise matching result according to the second road section.
3. The method of claim 1, wherein matching a current position of a navigated object with map network data of a first accuracy to obtain a first road segment matching the current position comprises:
matching the historical positioning position of the navigated object with the map network data with the first precision to obtain first lane group information matched with the historical positioning position;
determining one or more second lane group information matched with the current positioning position according to the variation of the current positioning position of the navigated object relative to the historical positioning position, the first lane group information and the lane topological relation;
and determining a first road section matched with the current positioning position according to the one or more second lane group information.
4. The method of claim 1, wherein matching a current position of a navigated object with map network data of a first accuracy to obtain a first road segment matching the current position comprises:
matching the current positioning position of the navigated object with map network data with first precision to obtain one or more second lane group information;
and determining a first road section matched with the current positioning position according to the one or more second lane group information.
5. The method of claim 3 or 4, wherein determining a first road segment matching the current location position from the one or more second lane group information comprises:
if the number of the second lane group information is one, taking a road section matched with the second lane group information in the map road network data with the first precision as the first road section;
if the number of the second lane group information is multiple, determining target lane group information from the multiple second lane group information through a particle filter algorithm, and taking a road section matched with the target lane group information in the map network data with the first precision as the first road section.
6. The method of claim 1, wherein comparing the navigation match result to a calibrated cruise match result to determine whether the navigated object deviates from the navigation plan route comprises:
if the navigation matching result is different from the calibrated cruise matching result, determining that the navigated object deviates from the navigation planning route;
and replanning the navigation route according to the current positioning position of the navigated object.
7. The method of claim 6, wherein the re-planned navigation route includes the second road segment.
8. A navigation yaw confirmation apparatus, comprising:
the first matching module is used for matching the current positioning position of the navigated object with map network data with first precision to obtain a first road section matched with the current positioning position;
the second matching module is used for respectively matching the current positioning position of the navigated object with the map road network data and the navigation planning route with the second precision to obtain a cruise matching result and a navigation matching result;
the determining module is used for determining a second road section matched with the first road section in the map road network data with second precision according to the mapping relation between the map road network data with first precision and the map road network data with second precision, wherein the first precision is greater than the second precision;
the calibration module is used for calibrating the cruise matching result according to the second road section;
and the comparison module is used for comparing the navigation matching result with the calibrated cruise matching result so as to determine whether the navigated object deviates from the navigation planning route.
9. An electronic device, comprising:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the method of any one of claims 1-7.
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