CN114459493B - Method, device, equipment and storage medium for confirming navigation yaw - Google Patents
Method, device, equipment and storage medium for confirming navigation yaw Download PDFInfo
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- CN114459493B CN114459493B CN202111630066.5A CN202111630066A CN114459493B CN 114459493 B CN114459493 B CN 114459493B CN 202111630066 A CN202111630066 A CN 202111630066A CN 114459493 B CN114459493 B CN 114459493B
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- 238000000034 method Methods 0.000 title claims abstract description 47
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- 238000012790 confirmation Methods 0.000 claims description 9
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Classifications
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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 present disclosure relates to a method, apparatus, device and storage medium for confirming navigation yaw. The method and the device obtain a first road section matched with the current positioning position by matching the current positioning position of the navigated object with map road network data with first precision. And respectively matching the current positioning position of the navigated object with the map road network data with the second precision and the navigation planning route to obtain a cruising 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. And the cruising matching result is calibrated through the second road section, so that the calibrated cruising matching result can be ensured to be accurate. And comparing the navigation matching result with the calibrated cruise matching result, so as to timely judge whether the navigated object deviates from the navigation planning route and timely plan a new navigation route, thereby improving user experience.
Description
Technical Field
The disclosure relates to the field of information technology, and in particular relates to a method, a device, equipment and a storage medium for confirming navigation yaw.
Background
With the continuous development of technology, intelligent terminals have become indispensable equipment in people's daily life. A user may install various different types of Application (APP) programs on the intelligent terminal to meet different needs of the user.
Travel class applications, such as map navigation applications, are widely used. In general, 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 a positioning position of the navigated object, and in order to make the navigated object know its positioning position on the navigation route, generally, the positioning position of the navigated object is also identified on the navigation route.
However, the inventors of the present application found that, in some scenarios, yaw may occur in the process of the navigated object traveling along the navigation route (i.e., the navigated object does not travel along the road planned by the navigation route), and the accuracy of the position of the navigated object determined based on the existing positioning technology is not enough, which results in the map navigation application program failing to timely determine that the yaw occurs in the navigated object, and further, the map navigation application program failing to timely plan a new navigation route for the navigated object after the yaw of the navigated object, which causes an injury to the user experience.
Disclosure of Invention
In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a method, an apparatus, a device, and a storage medium for determining navigation yaw, so as to determine whether a navigated object deviates from the navigation planning route in time, and once the navigated object deviates, a new navigation route can be planned for the navigated object, 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 road 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 of the second precision and the navigation planning route respectively to obtain a cruising matching result and a navigation matching result;
determining a second road section matched with the first road section in the second-precision map road network data according to the mapping relation between the first-precision map road network data and the second-precision map road network data, wherein the first precision is greater than the second precision;
calibrating a cruising matching result according to the second road section;
And comparing the navigation matching result with the calibrated cruise matching result to determine whether the navigated object deviates from the navigation planning route.
In a second aspect, embodiments of the present disclosure provide a confirmation device for navigating yaw, comprising:
the first matching module is used for matching the current positioning position of the navigated object with map road 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 with the second precision and the navigation planning route to obtain a cruising 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 second-precision map road network data according to the mapping relation between the first-precision map road network data and the second-precision map road network data, and the first precision is larger than the second precision;
the calibration module is used for calibrating a cruising 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 according to the first aspect.
In a fourth aspect, embodiments of the present disclosure provide a computer-readable storage medium having stored thereon a computer program for execution 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 map road network data with first precision, and a first road section matched with the current positioning position is obtained. In addition, the current positioning position of the navigated object is respectively matched with the map road network data with the second precision and the navigation planning route, so as to obtain a cruising matching result and a navigation matching result. Further, according to the mapping relation between the first-precision map road network data and the second-precision map road network data, a second road section matched with the first road section in the second-precision map road network data is determined. Because the first precision is greater than the second precision, the first road segment represents a more accurate road segment in which the navigated object is located in the first precision map road network data, and the second road segment represents a more accurate road segment in which the navigated object is located in the second precision map road network data. Because the second accuracy is lower, the cruising matching result may be accurate or inaccurate, and therefore, the cruising matching result after calibration can be ensured to be accurate by calibrating the cruising matching result through the second road section. And comparing the navigation matching result with the calibrated cruise matching result, and judging whether the navigated object deviates from the navigation planning route or not in time, and planning a new navigation route for the navigated object once deviating, thereby improving user experience.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic illustration of a user interface provided by an embodiment of the present disclosure;
fig. 2 is a schematic diagram of an application scenario provided in an embodiment of the present disclosure;
FIG. 3 is a flow chart of a method for validating 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 in another embodiment of the present disclosure;
FIG. 6 is a flow chart of a method for validating navigation yaw provided by another embodiment of the present disclosure;
FIG. 7 is a schematic view of a lane group provided in 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 view of a confirmation device of navigation yaw provided by an embodiment of the present disclosure;
fig. 12 is a schematic structural diagram of an embodiment of an electronic device according to an embodiment of the disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a further description of aspects of the present disclosure will be provided below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.
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 otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.
In general, 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 a positioning position of the navigated object, and in order to make the navigated object know its positioning position on the navigation route, generally, the positioning position of the navigated object is also identified on the navigation route. However, yaw may occur in the process of the navigated object traveling along the navigation route (i.e., the navigated object does not travel along the road planned by the navigation route), and the accuracy of the position of the navigated object determined based on the existing positioning technology is not enough, so that the map navigation application program cannot timely determine that the 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 yaw of the navigated object, which causes injury 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. Wherein the display component may specifically be a screen. The display assembly may be integrated in the terminal 21. Or the display assembly and the terminal 21 may be separated from each other and communicatively connected by wire or wirelessly. When the user goes out, the user may enter a start point and a destination on the user interface of the map navigation application. Specifically, the present embodiment is not limited to a specific input manner of the start point and the destination, and may be, for example, a user inputting the name or the identification of the start point in the start point input box 22 of the user interface and inputting the name or the identification of the destination in the destination input box 23 of the user interface. Alternatively, the user interface may have an electronic map 24 displayed thereon, and the user may select a start point A and a destination B on the electronic map 24. Alternatively, the origin a may default to the current location of the terminal 21. Further, the map navigation application program can plan a navigation route from the starting point A to the destination B according to the starting 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.
The user and/or the terminal 21 may be the object to be navigated during the user's driving, walking or riding along the navigation route with the terminal 21. In other cases, the map navigation application may be installed in an in-vehicle device such as a car, and thus the car may be a target to be navigated. For example, the terminal 21 in the driving scene is schematically described as an 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, the navigation route is displayed on the screen of the terminal 21, and the user is prompted to drive along the navigation route. It will be appreciated that the navigation route may be made up of a plurality of road segments, with the road segment 31 in which the vehicle 30 is currently located being one of the road segments contained in the navigation route. The road section 31 has a bifurcation, and when the vehicle 30 travels to the bifurcation, the user may temporarily change the road according to the actual situation, thereby entering the bifurcation 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, the arrow in the road segment 31 represents the current navigation route of the terminal 21, and the circle of the broken line represents the location position of the terminal 21, which may be the position of the terminal 21 determined based on the existing location technology. When the vehicle 30 enters the branch road 32, the positioning position of the terminal 21 may also be matched with the current navigation route of the terminal 21 due to insufficient accuracy of the positioning position of the terminal 21, so that the terminal 21 may not plan a new navigation route in time. When the vehicle 30 continuously travels along the branch road 32, the positioning position of the terminal 21 continuously deviates from the current navigation route of the terminal 21, and when the deviation degree causes that the positioning position of the terminal 21 does not match with 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 point B position after the vehicle 30 enters the bifurcation 32, e.g., an arrow on the bifurcation 32 indicates the planned new navigation route. At this point, the actual location of the vehicle 30 has been far from the bifurcation. For example, when the vehicle 30 travels to the B-point position, the vehicle 30 has traveled forward along the bifurcation 32 for 30 seconds, more than 500 meters, from the bifurcation, thus degrading the user experience.
In response to this problem, embodiments of the present disclosure provide a method of confirming navigation yaw, which is described below in connection with specific embodiments.
Fig. 3 is a flowchart of a method for confirming navigation yaw provided in an embodiment of the present disclosure. The method can be executed by a navigation yaw confirmation device, the device can be realized in a software and/or hardware mode, and the device can be configured in electronic equipment, such as a terminal, a vehicle-mounted equipment, a server and the like, wherein the terminal specifically comprises a mobile phone, a computer, a tablet computer and the like. The method for confirming the navigation yaw will be described below by taking a terminal as an example. In addition, the method for confirming the navigation yaw can be suitable for application scenes such as driving navigation, walking navigation, riding navigation, unmanned navigation and the like. As shown in fig. 3, the method specifically comprises the following steps:
and S301, matching the current positioning position of the navigated object with map road network data with first precision to obtain a first road section matched with the current positioning position.
For example, the terminal in the vehicle 30 may receive the positioning signal and determine the positioning position according to the positioning signal as the navigated object, and it may be understood that the terminal may continuously receive the positioning signal during the movement of the vehicle 30 and determine the current positioning position according to the currently received positioning signal. The positioning signal may specifically be a high-precision position signal, where the high-precision position signal is a signal with positioning accuracy reaching centimeter level, and may be, for example, a carrier-time differential (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 road network data with the first precision may be stored in a database or a server, the terminal may obtain the Map road network data with the first precision from the database or the server, where the Map road network data with the first precision may specifically be Map road network data with high precision (HighDefinition, HD), and the HD Map road network data includes very rich traffic semantic elements such as lane edge geometry, lane line type, lane direction, curvature, and traffic sign, street lamp, traffic light, and the like. Further, the terminal can 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 denoted as HD Link1, i.e. the first road segment is a road segment in the HD Map road network data. Or the terminal can send the current positioning position to a database or a server which stores the HD Map road network data, so that the database or the server can match the current positioning position of the terminal with the HD Map road network data to obtain a first road section matched with the current positioning position, and send related information of the first road section to the terminal.
S302, matching the current positioning position of the navigated object with the map road network data and the navigation planning route with the second precision respectively to obtain a cruising matching result and a navigation matching result.
For example, the present embodiment also relates to second-precision map road network data, which may specifically be standard-definition (StandardDefinition, SD) map road network data. That is, the first precision is higher than the second precision. Specifically, the HD Map network data and the SD Map network data may be stored in the same database or server, or may be stored in different databases or servers, respectively. For example, as shown in fig. 4, HD Map network data is stored in the server 41, SD Map 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 network 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 network data from the server 42, and match the current location of the terminal 21 with the SD Map network data to obtain the cruise matching result. Alternatively, the terminal 21 may send its current location to the server 42, so that the server 42 may match the current location of the terminal 21 with the SD Map road network data to obtain a cruise matching result, and send the cruise matching result to the terminal 21.
In addition, the present embodiment marks the current navigation route of the terminal 21 as the navigation planned route. The terminal 21 can also match its current location 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 second-precision map road network data according to the mapping relation between the first-precision map road network data and the second-precision map road network data, wherein the first precision is larger than the second precision.
Specifically, there is a Mapping relationship between Link information in the HD Map road network data and Link information in the SD Map road network data, which 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 related information of the first road segment, the related 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 described above, a second road segment matching the first road segment in the SD Map road network data, and send the related 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, according to the mapping relationship, a second road segment in the SD Map road network data that matches the first road segment. The second segment may be denoted SD Link2.
S304, calibrating a 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 Link22. The terminal 21 may compare the second road section with the cruise matching result, and if SD Link2 and SD Link21 are different, the terminal 21 may calibrate the cruise matching result according to 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 SD Link22 and SD Link2 agree, determine that the terminal 21 does not deviate from the current navigation route, i.e., the navigation planned 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 planning route.
According to the embodiment of the disclosure, the current positioning position of the navigated object is matched with map road network data with first precision, so that a first road section matched with the current positioning position is obtained. In addition, the current positioning position of the navigated object is respectively matched with the map road network data with the second precision and the navigation planning route, so as to obtain a cruising matching result and a navigation matching result. Further, according to the mapping relation between the first-precision map road network data and the second-precision map road network data, a second road section matched with the first road section in the second-precision map road network data is determined. Because the first precision is greater than the second precision, the first road segment represents a more accurate road segment in which the navigated object is located in the first precision map road network data, and the second road segment represents a more accurate road segment in which the navigated object is located in the second precision map road network data. Because the second accuracy is lower, the cruising matching result may be accurate or inaccurate, and therefore, the cruising matching result after calibration can be ensured to be accurate by calibrating the cruising matching result through the second road section. And comparing the navigation matching result with the calibrated cruise matching result, and judging whether the navigated object deviates from the navigation planning route or not in time, and planning a new navigation route for the navigated object once deviating, thereby improving user experience.
Fig. 5 is a schematic diagram of another application scenario provided in an embodiment of the present disclosure. Each module within the dashed box 51 is a logic unit or module inside the terminal 21 described above. Mapping shown in fig. 5 represents Map data described in the above embodiment, that is, a Mapping relationship between the link information in the HD Map road network data and the link information in the SD Map road network data, and specifically, the Map data may be stored in the server 43 as described above. In addition, the HD Map shown in fig. 5 represents the HD Map network data described in the above embodiment, and the HD Map network data may be stored in the server 41 as described above. Further, the SD Map shown in fig. 5 represents the SD Map road network data described in the above embodiment, and the SD Map road network data 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 box 51 can combine the mapping table data, the HD Map road network data, and the SD Map road network data to implement the method for confirming navigation yaw according to the embodiments of the present disclosure. The method is described below in connection with fig. 5.
FIG. 6 is a flow chart of a method for validating navigation yaw provided by another embodiment of the present disclosure. The method comprises the following steps as shown in fig. 6:
s601, matching the current positioning position of the navigated object with map road network data with first precision to obtain a first road section matched with the current positioning position.
In one possible implementation, matching a current positioning position of a navigated object with map road network data of a first precision to obtain a first road segment matched with the current positioning position, including: matching the historical positioning position of the navigated object with the map road 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, according to the one or more second lane group information, a first road segment matching the current positioning position 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; and if the number of the second lane group information is a plurality of, determining target lane group information from the plurality of second lane group information through a particle filtering algorithm, and taking a road section matched with the target lane group information in the map road network data with the first precision as the first road section.
It will be appreciated that, since the accuracy of the HD Map road network data is higher than that of the SD Map road network data, the HD Map road network data includes more abundant information, for example, fig. 7 is a schematic diagram of a lane group corresponding to a certain Link (Link) in the HD Map road network data, for example, the lane group corresponding to the Link includes 71, 72 and 73 as shown in fig. 7. Where 71 denotes the road edge, i.e. the road edge (border). 72 denotes a lane boundary, and the corresponding shape point of the road section may be superimposed on the lane boundary 72. 73 indicates a lane line and a dotted line indicates that the vehicle may change lanes to travel on different lanes of the road section. It will be appreciated that the lane sets shown in fig. 7 are only a schematic illustration and are not intended to be limiting, and that lane sets may include other lines in other scenarios or embodiments. Accordingly, the lane group information corresponding to the road section may be related information of each line in the lane group as shown in fig. 7. The HD Map road network data is constructed by taking lane group information as a unit, and the lengths of different lane groups are also different.
For example, as shown in fig. 5, the high-precision position signal received by the terminal 21 may be input to a design operation area (Operational Design Domain, ODD) module. The high-precision position signal includes 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 is currently running on with high accuracy, and when the ODD module identifies that the vehicle is running on a road or road section with the HD Map road network data, the ODD module can output lane group information corresponding to 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 infer the scoring condition of the hidden variable through observance quantity, and the main body comprises a transmitting model and a transferring model; the emission model describes the scoring situation of the observed quantity under the condition of the known hidden variable; the transfer model is a zero-matrix, describing whether the hidden variable of the previous step is communicable with the current hidden variable; the main observables are: the position relation, the direction difference, the communication relation and the like between the high-precision position signal and the road.
For example, the terminal 21 receives a high-precision position signal at a point C shown in fig. 8, where a positioning position included in the high-precision position signal may be denoted 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 point a at the present time, the terminal 21 receives a high-precision position signal at point a, where the high-precision position signal includes the present positioning position of the terminal 21, and the lane-line tracking module may determine one or more second lane-group information matching the present positioning position according to the amount of change of the present positioning position with respect to the historic positioning position, the first lane-group information, and the lane topology. The lane topology here may be a lane topology in the HD Map road network data, the lane topology including a topology of a lane group, a topology of a lane. The topology of the lane groups may include an upstream lane group and a downstream lane group of the road section 31, and the topology of the lanes may include an upstream lane and a downstream lane of each lane within the road section 31. For example, as shown in fig. 8, since the point a is a bifurcation, there are two pieces of second lane group information matching the current positioning position, i.e., lane group information corresponding to the link 31 and lane group information corresponding to the bifurcation 32.
Further, the lane line tracking module may provide one or more second lane group information that it outputs to a semantic fusion module as shown in fig. 5. Specifically, when the lane tracking module outputs a second lane group information, the semantic fusion module may determine, according to the second lane group information and the current positioning position of the terminal 21, on which lane the vehicle is currently traveling, so as to output a lane-level matching result, where the lane-level matching result indicates on which lane the vehicle is currently traveling. When the lane line tracking module outputs a plurality of pieces of second lane group information, the semantic fusion module can select one piece of second lane group information from the plurality of pieces of second lane group information according to the particle filtering algorithm, and the piece of second lane group information selected by the particle filtering algorithm can be recorded as target lane group information. Specifically, the inputs of the particle filtering algorithm may be the plurality of second lane group information and the current location position of the terminal 21, and the outputs of the particle filtering algorithm may be the selected one second lane group information and the lane-level matching result. Therefore, as shown in fig. 8, when the vehicle moves to the point a, the lane line tracking module sends lane group information corresponding to the road segment 31 and the branch road 32 to the semantic fusion module, and the semantic fusion module has a lane-level positioning function, so that 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 target lane group information to the lane line tracking module, so that the lane line tracking module can exclude invalid second lane group information in the plurality of second lane group information. Further, the lane line tracking module may use a section matched with the target lane group information in the HD Map road network data as the first section. For example, the first link may be a lane boundary line in the target lane group corresponding to the target lane group information, or the first link may be a link constituted by shape points superimposed on the lane boundary line.
In other embodiments, as shown in fig. 7, the terminal 21 receives a high-precision position signal at point C, where the positioning position included in the high-precision position signal is denoted 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 a lane group formed by 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 the point a at the present time, the terminal 21 receives a high-precision position signal at the point a, where the high-precision position signal includes the present positioning position of the terminal 21, and the lane tracking module may determine second lane group information matching the present positioning position, where a has no bifurcation, according to the amount of change of the present positioning position with respect to the historic positioning position, the first lane group information, and the lane topology, and at this time, there is one second lane group information matching the present 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 tracking module may use a section matched with the second road group information in the HD Map road network data as the first section.
It will be appreciated that in some embodiments, as shown in fig. 7 or 8, the terminal 21 receives one high-precision position signal at point C, another high-precision position signal at point a, and possibly one or more other high-precision position signals during the movement from point C to point a. The change of the positioning position of the terminal 21 at the point a relative to the positioning position of the terminal 21 at the point C can be obtained according to the change of the positions of every two adjacent high-precision position signals in the process from the point C to the point a. In addition, the first lane group information corresponding to the vehicle at the point C may be obtained by matching the history positioning position of the terminal 21 at the point C with the HD Map road network data as described above, and in other embodiments, the first lane group information corresponding to the vehicle at the point C may be obtained in a manner similar to the above-described determination of the target lane group information.
In another possible implementation manner, matching a current positioning position of a navigated object with map road network data of a first precision to obtain a first road section matched with the current positioning position, including: matching the current positioning position of the navigated object with map road network data of the 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 a 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, a first road segment matching the current location position is determined according to the one or more second lane group information. Specifically, the process of determining the first road segment matching with the current positioning position according to the one or more second lane group information may refer to the above implementation manner, which is not described herein again.
S602, matching the current positioning position of the navigated object with the map road network data and the navigation planning route with the second precision respectively to obtain a cruising matching result and a navigation matching result.
For example, as shown in fig. 5, the high-precision position signal may also be input to a precision map road level matching module (SD Mapping Module, SD MM), which may perform precision road matching including cruise matching and navigation matching based on the high-precision position signal. For example, the SD MM module includes a cruise match sub-module and a navigation match 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 section matched with the current location position in the SD Map road network data, where the third road section is a cruise matching result, and the cruise matching result is recorded as SD Link21.
The navigation matching sub-module may match the current positioning position of the terminal 21 with the navigation planning route, so as to obtain a fourth road segment matched with the current positioning position in the navigation planning route, where the fourth road segment is a navigation matching result, and the navigation matching result is denoted as SD Link22. The road level matching results output by the SD MM comprise a cruise matching result and a navigation matching result. Wherein the navigation planned route may be determined based on the map road network data of the second accuracy.
Further, the SD MM module may send the cruise match results and the navigation match results to the yaw plug-in as shown in FIG. 5.
S603, determining a second road section matched with the first road section in the second-precision map road network data according to the mapping relation between the first-precision map road network data and the second-precision map road network data, wherein the first precision is larger than the second precision.
For example, after the lane tracking module determines the first road segment, because the first road segment is a road segment in the HD Map road network data, the lane tracking module may determine, from the SD Map road network data, a second road segment that matches the first road segment according to a 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, 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 the related information of the second road segment, SD Link2, to the yaw plug-in as shown in fig. 5.
S604, comparing the second road section with the cruising matching result, and if the second road section is different from the cruising matching result, obtaining a calibrated cruising matching result according to the second road section.
Because the accuracy of the SD Map road network data is low, the cruising matching result may be accurate or inaccurate, i.e., the SD Link21 may or may not be the road segment on which the vehicle is currently actually located. Since the first road segment as described above is the road segment in which 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 are matched, the second road segment is also the road segment in which the vehicle is currently actually located.
When the yaw plug-in receives the second road segment, namely SD Link2, sent by the lane tracking module and the cruise matching results, namely SD Link21 and SD Link22, provided by the SD MM module, as shown in fig. 5, the yaw plug-in may compare the second road segment with the cruise matching results, and if the second road segment is different from the cruise matching results, for example, the 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 represents a road edge in the HD Map road network data, 92 represents a superposition of the navigation planning route and the cruising road in the SDMap road network data, 93 represents the cruising road in the SDMap road network data, and 94 represents a high-precision position signal currently received by the terminal. 95 denotes the cruise match result as described above, 95 may be denoted as SD match segment 1. 96 denotes a second link as described above, for example, the first link may be denoted as an HD matching link, and the second link may be denoted as an SD matching link2 obtained by mapping the HD matching link to SDMap road network data. Since the SD matching section 1 and the SD matching section 2 are different, the calibrated cruise matching result can be obtained according to the SD matching section 2. Specifically, the calibrated cruise matching result is obtained after the SD matching section 2 is processed, or the SD matching section 2 may be used as the calibrated cruise matching result.
It will be appreciated that here SD matching segment 1 is the SD Link21 described above, and SD matching segment 2 is the SD Link2 described above. Additionally, in other embodiments, if SD match segment 1 and SD match segment 2 are the same, then the calibrated cruise match result is SD match segment 2, or it may be understood that the cruise match result remains unchanged, i.e., the cruise match result is not calibrated.
And 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 obtaining the calibrated cruise match result according to the second road segment, the yaw plug-in further compares the navigation match result with the calibrated cruise match result, and if the navigation match result and the calibrated cruise match result are different, it indicates that the vehicle has deviated from the navigation planned route.
S606, re-planning a navigation route at least 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 planned 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 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 to re-plan the navigation route, or the terminal 21 may re-plan the navigation route locally.
In addition, in the case where SD Link2 and SD Link21 are the same, it is explained that the cruise matching result is accurate, and at this time, the cruise matching result can be kept unchanged. The yaw plug-in may further compare the navigation match result with the cruise match result and not re-plan the navigation route if the navigation match result is the same as the cruise match result. If the navigation match result and the cruise match result are different, indicating that the vehicle has left the navigation planning route, the yaw plug-in may send a request to the navigation matching sub-module, where the request may include information required to re-plan the navigation route, where the information may include the current location of the vehicle, or may further include the driving direction of the vehicle. Further, the navigation matching sub-module may request the server corresponding to the map navigation application to re-plan the navigation route, or the terminal 21 may re-plan the navigation route locally. 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 Link2.
In the embodiment of the disclosure, because the precision of the HD Map road network data is higher, and the positioning position of the vehicle is matched with the HD Map road network data, a lane-level matching result, namely, determining which lane the vehicle is currently on, can be obtained. Therefore, when the vehicle temporarily changes the track at the bifurcation shown in fig. 10, the road section matching with the positioning position of the vehicle, for example, the bifurcation 32, can be accurately obtained from the HD Map road network data, so that the current navigation route (for example, the arrow in the road section 31) of the vehicle is accurately judged to be inconsistent with the bifurcation 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-plan the navigation route after traveling along the bifurcation 32 for a short time (e.g., 2 seconds) and a short distance (e.g., 30 meters) past the bifurcation, e.g., an arrow on the bifurcation 32 indicates a new navigation route being planned. That is, switching from the current navigation route to the new navigation route may take a short time to complete.
In addition, on the basis of the above embodiment, the information required for rescheduling 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 the rescheduling the navigation route, which may specifically refer to a rescheduling navigation route triggered when the navigated object deviates from the navigation planned route by the method described in the embodiment of the present disclosure.
Fig. 11 is a schematic structural view of a confirmation device of navigation yaw provided in an embodiment of the present disclosure. The navigation yaw confirmation device provided in the embodiment of the present disclosure may execute a processing flow provided in the embodiment of the method for confirming a navigation yaw, as shown in fig. 11, where the navigation yaw confirmation device 110 includes:
a first matching module 111, configured to match a current positioning position of a navigated object with map road network data with a first precision, so as to obtain a first road segment matched with the current positioning position;
the second matching module 112 is configured to match the current positioning position of the navigated object with the second precision map road network data and the navigation planning route, 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 first precision map road network data and the second precision map road network data, a second road segment matched with the first road segment in the second precision map road network data, where the first precision is greater than the second precision;
a calibration module 114 for calibrating a cruise match result according to the second road segment;
a comparison module 115 for comparing the navigation matching result with the calibrated cruise matching result to determine whether the navigated object deviates from the navigation planned 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 cruising matching result, and if the second road section is different from the cruising matching result, obtaining a calibrated cruising matching result according to the second road section.
Optionally, the first matching module 111 is specifically configured to, when matching a current positioning position of the navigated object with map road network data of a first precision to obtain a first road segment matched with the current positioning position:
matching the historical positioning position of the navigated object with the map road 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 a current positioning position of the navigated object with map road network data of a first precision to obtain a first road segment matched with the current positioning position:
matching the current positioning position of the navigated object with map road network data of the 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 section 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;
And if the number of the second lane group information is a plurality of, determining target lane group information from the plurality of second lane group information through a particle filtering algorithm, and taking a road section matched with the target lane group information in the map road 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 for:
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 re-planning a navigation route at least according to the current positioning position of the navigated object.
Optionally, the re-planned navigation route includes the second road segment.
The confirmation device for yaw navigation in the embodiment shown in fig. 11 may be used to implement the technical solution of the above method embodiment, and its implementation principle and technical effects are similar, and will not be described herein again.
The internal functions and structure of a confirmation device of navigation yaw are described above, which may be implemented as an electronic device. Fig. 12 is a schematic structural diagram of an embodiment of an electronic device according to an embodiment of the 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 programs described above, the memory 121 may also be configured to store various other 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 the like.
The memory 121 may be implemented by any type of volatile or non-volatile memory device or combination thereof, 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 disk.
Processor 122 is coupled to memory 121, executing programs stored in memory 121 for:
matching the current positioning position of the navigated object with map road 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 of the second precision and the navigation planning route respectively to obtain a cruising matching result and a navigation matching result;
Determining a second road section matched with the first road section in the second-precision map road network data according to the mapping relation between the first-precision map road network data and the second-precision map road network data, wherein the first precision is greater than the second precision;
calibrating a cruising matching result according to the second road section;
and comparing the navigation matching result with the calibrated cruise matching result to determine whether the navigated object deviates from the navigation planning route.
Further, as shown in fig. 12, the electronic device may further include: communication component 123, power supply component 124, audio component 125, display 126, and other components. Only some of the components are schematically shown in fig. 12, which does not mean that the electronic device only comprises the components shown in fig. 12. The communication component 123 is configured to facilitate communication between the electronic device and other devices, either wired or wireless. The electronic device may access a wireless network based on a communication standard, such as WiFi,2G, or 3G, or a combination thereof. In one 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 assembly 124 provides power to the various components of the electronic device. The power supply components 124 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for electronic devices.
The audio component 125 is configured to output and/or input audio signals. For example, the audio component 125 includes a Microphone (MIC) configured to receive external audio signals when the electronic device is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 121 or transmitted via the communication component 123. In some embodiments, the audio component 125 further includes a speaker for outputting audio signals.
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 input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or slide action, but also 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 having stored thereon a computer program that is executed by a processor to implement the method for confirming navigation yaw described in the above embodiment.
It should be noted that in this document, relational terms such as "first" and "second" and the like are 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is merely a specific embodiment of the disclosure to enable one skilled in the art to understand or practice the 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 and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method of confirming navigation yaw, wherein the method comprises:
matching the current positioning position of the navigated object with map road 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 road network data and navigation planning routes with second precision respectively to obtain a cruising matching result and a navigation matching result;
determining a second road section matched with the first road section in the second-precision map road network data according to the mapping relation between the first-precision map road network data and the second-precision map road network data, wherein the first precision is greater than the second precision;
calibrating a cruising matching result according to the second road section;
and comparing the navigation matching result with the calibrated cruise matching result to determine whether the navigated object deviates from the navigation planning route.
2. The method of claim 1, wherein calibrating cruise match results from the second road segment comprises:
and comparing the second road section with the cruising matching result, and if the second road section is different from the cruising matching result, obtaining a calibrated cruising matching result according to the second road section.
3. The method of claim 1, wherein matching a current location of the navigated object with map road network data of a first accuracy resulting in a first road segment matching the current location comprises:
matching the historical positioning position of the navigated object with the map road 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 location of the navigated object with map road network data of a first accuracy resulting in a first road segment matching the current location comprises:
matching the current positioning position of the navigated object with map road network data of the 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 that matches the current location based on 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;
and if the number of the second lane group information is a plurality of, determining target lane group information from the plurality of second lane group information through a particle filtering algorithm, and taking a road section matched with the target lane group information in the map road network data with the first precision as the first road section.
6. The method of claim 1, wherein comparing the navigational match results with calibrated navigational match results to determine whether the navigated object deviates from the navigational planned 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 re-planning a navigation route at least 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 confirmation device of navigation yaw, comprising:
the first matching module is used for matching the current positioning position of the navigated object with map road 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 map road network data and navigation planning routes with second precision to obtain a cruising 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 second-precision map road network data according to the mapping relation between the first-precision map road network data and the second-precision map road network data, and the first precision is larger than the second precision;
the calibration module is used for calibrating a cruising 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 of claims 1-7.
10. A computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the method of any of claims 1-7.
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