CN114659537A - Navigation starting point road determining method, device, equipment and storage medium - Google Patents

Navigation starting point road determining method, device, equipment and storage medium Download PDF

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CN114659537A
CN114659537A CN202210279173.6A CN202210279173A CN114659537A CN 114659537 A CN114659537 A CN 114659537A CN 202210279173 A CN202210279173 A CN 202210279173A CN 114659537 A CN114659537 A CN 114659537A
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track point
road
track
determining
point
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周亚洲
李伟
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Beijing Baidu Netcom Science and Technology Co Ltd
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Beijing Baidu Netcom Science and Technology Co Ltd
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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
    • G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
    • 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
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
    • 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
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3679—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities
    • G01C21/3682—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities output of POI information on a road map
    • 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
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3691—Retrieval, searching and output of information related to real-time traffic, weather, or environmental conditions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/21—Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
    • G06F18/214—Generating training patterns; Bootstrap methods, e.g. bagging or boosting
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/24—Classification techniques
    • G06F18/243—Classification techniques relating to the number of classes
    • G06F18/24323—Tree-organised classifiers

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Abstract

The disclosure provides a navigation starting point road determining method, a navigation starting point road determining device, navigation starting point road determining equipment and a storage medium, and relates to the field of data processing, in particular to the technical fields of intelligent transportation, automatic driving and the like. The specific implementation scheme is as follows: determining a plurality of candidate roads in a plurality of roads according to road data of the plurality of roads corresponding to the current position of the vehicle, wherein the road data comprises road directions; acquiring forward track point data of the vehicle, wherein the forward track point data is track point data before the vehicle reaches the current position; determining the driving direction of the vehicle according to the forward track point data; and determining a navigation starting point road of the vehicle in the candidate roads according to the driving direction and the road directions of the candidate roads. The accuracy of starting point road binding is improved.

Description

Navigation starting point road determining method, device, equipment and storage medium
Technical Field
The present disclosure relates to the field of intelligent transportation and automatic driving technologies in the field of data processing, and in particular, to a method, an apparatus, a device, and a storage medium for determining a navigation starting point road.
Background
Navigation software is an essential tool for people to travel, and provides navigation services capable of helping users drive vehicles from current positions to reach destinations.
The basis of the navigation service is to correctly bind the starting point of the vehicle, namely, when the navigation is initiated through the navigation software, the road where the vehicle is located at the navigation starting point is determined. Only when the road where the vehicle is started is correctly positioned, the subsequent navigation process can be smoothly carried out, and if the positioning is wrong, the problems of inaccurate subsequent navigation voice broadcasting, wrong navigation route and the like can be caused.
In the related art, the starting point is mainly bound according to the position of a vehicle and the position of each road, and the accuracy of starting point binding according to the positions of the vehicle and the road is low in the scenes such as intersections with relatively complex road networks or poor road network precision.
Disclosure of Invention
The disclosure provides a navigation starting point road determining method, a navigation starting point road determining device, navigation starting point road determining equipment and a storage medium.
According to a first aspect of the present disclosure, there is provided a navigation origin road determination method, including:
determining a plurality of candidate roads in a plurality of roads according to road data of the plurality of roads corresponding to the current position of the vehicle, wherein the road data comprises road directions;
acquiring forward track point data of the vehicle, wherein the forward track point data is track point data before the vehicle reaches the current position;
determining the driving direction of the vehicle according to the forward track point data;
and determining a navigation starting point road of the vehicle in the candidate roads according to the driving direction and the road directions of the candidate roads.
According to a second aspect of the present disclosure, there is provided a navigation origin road determination device including:
a first determination unit configured to determine a plurality of candidate roads among a plurality of roads corresponding to a current position of a vehicle, according to road data of the plurality of roads, the road data including a road direction;
an obtaining unit, configured to obtain forward trajectory point data of the vehicle, where the forward trajectory point data is trajectory point data before the vehicle reaches the current position;
a processing unit for determining the driving direction of the vehicle according to the forward track point data;
a second determination unit configured to determine a navigation start point road of the vehicle among the plurality of candidate roads, based on the traveling direction and road directions of the plurality of candidate roads.
According to a third aspect of the present disclosure, there is provided an electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of the first aspects.
According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of the first aspects.
According to a fifth aspect of the present disclosure, there is provided a computer program product comprising: a computer program, stored in a readable storage medium, from which at least one processor of an electronic device can read the computer program, execution of the computer program by the at least one processor causing the electronic device to perform the method of the first aspect.
According to the navigation starting point road determining method, the navigation starting point road determining device, the navigation starting point road determining equipment and the storage medium, firstly, a plurality of candidate roads are determined in the plurality of roads according to road data of the plurality of roads corresponding to the current position of a vehicle, and therefore preliminary screening of the navigation starting point roads is achieved; then, forward track point data of the vehicle is obtained, the forward track point data is track point data before the vehicle reaches the current position, and the driving direction of the vehicle is determined according to the forward track point data, so that the navigation starting point road of the vehicle is determined in a plurality of candidate roads according to the driving direction and the road directions of the candidate roads. Aiming at scenes with complex road networks or poor road network precision, the driving direction of the vehicle is determined through the forward track point data, and direction information with more reference value than the road distance is provided, so that the navigation starting point road of the vehicle can be matched according to the driving direction during navigation, and the accuracy of determining the navigation starting point road is improved.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
fig. 1 is a schematic view of an application scenario provided in the embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a navigation starting point road determining method according to an embodiment of the disclosure;
FIG. 3 is a schematic flowchart illustrating a method for determining candidate roads according to an embodiment of the disclosure;
FIG. 4 is a schematic diagram of determining a road scene provided by an embodiment of the present disclosure;
fig. 5 is a schematic diagram of forward trace points provided by an embodiment of the present disclosure;
fig. 6 is a schematic flow chart for determining a driving direction according to an embodiment of the present disclosure;
fig. 7 is a schematic diagram of determining a target forward trace point according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a navigation origin road determination device according to an embodiment of the present disclosure;
fig. 9 is a block diagram of an electronic device for implementing a navigation origin road determination method according to an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
In embodiments of the present disclosure, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the access relationship of the associated object, meaning that there may be three relationships, e.g., A and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. In the description of the text of this disclosure, the character "/" generally indicates that the former and latter associated objects are in an "or" relationship. In addition, in the embodiments of the present disclosure, "first", "second", "third", "fourth", "fifth", and "sixth" are only used to distinguish the contents of different objects, and have no other special meaning.
The starting point binding refers to a process of locating a road on which a vehicle starts when a user navigates through navigation software. The correct starting point binding is the basis for providing navigation service by navigation software, and the navigation software can effectively provide navigation service for a user only by correctly positioning the road where the vehicle starts, and the vehicle is driven to move to the destination from the starting point based on the navigation service. If the road where the vehicle is started is positioned incorrectly, the following navigation services may have deviation, for example, problems of inaccurate navigation voice broadcast, incorrect navigation route and the like.
The process of origin route binding can be understood, for example, in connection with fig. 1. Fig. 1 is a schematic view of an application scenario provided by an embodiment of the present disclosure, please refer to fig. 1, where directional arrows indicate different roads, and a vehicle 10 is located at a certain position in a road network. When the navigation is initiated, it is necessary to locate the road on which the vehicle 10 is located when it is at the current position, as a navigation start point.
In the related art, determining the road where the vehicle 10 starts is mainly implemented by Positioning the current position of the vehicle with high precision based on a Global Positioning System (GPS), and combining with high-precision road network data, and the distance between the vehicle 10 and the road is taken as a matching feature of the maximum weight in the starting point road binding process.
According to the scheme for binding the starting point, under the scenes of intersections and the like with complex road networks or poor positioning accuracy, the accuracy of the starting point binding is low, and the possibility of positioning the road where the starting point of the vehicle is positioned wrongly is high.
Based on the above, the present disclosure provides a method for determining a navigation starting point road, which determines a driving direction of a vehicle through forward track point data for a scene with a complex road network or poor positioning accuracy, so as to provide direction information with a higher reference value to match the navigation starting point road of the vehicle, thereby improving accuracy of starting point road binding. The following will describe aspects of the present disclosure.
First, description is made with reference to fig. 2, fig. 2 is a schematic flowchart of a navigation starting point road determining method provided by an embodiment of the present disclosure, and as shown in fig. 2, the method may include:
and S21, determining a plurality of candidate roads in the plurality of roads according to the road data of the plurality of roads corresponding to the current position of the vehicle, wherein the road data comprises the road direction.
The execution subject of the embodiment of the present disclosure may be, for example, a device having a certain data processing capability, such as a terminal device and a server. Taking the terminal device as an example, a navigation software program can be installed on the terminal device, and the navigation software program is used for providing navigation service.
The user can initiate navigation through the navigation software program, and the position where the navigation is initiated is the current position of the vehicle. In some embodiments, the terminal device may be a handheld terminal device of the user, and then the positioning location of the handheld terminal device may be determined as the current location of the vehicle; in some embodiments, the terminal device may be an in-vehicle terminal device of the vehicle, and then the positioning position of the in-vehicle terminal device may be determined as the current position of the vehicle at this time.
After the current position of the vehicle is determined, road data of a plurality of corresponding roads may be acquired according to the current position of the vehicle, and the plurality of roads may be roads near the current position of the vehicle. For example, there may be a road within 200 meters of the current location, a road within 300 meters, and so on. The road data is road-related data, and may include, for example, a road direction, a road position, a road width, and the like.
After the road data of the multiple roads are obtained, the multiple roads can be subjected to preliminary screening processing according to the road data, and multiple candidate roads are determined in the multiple roads. For example, distances from the current position to the plurality of roads may be acquired according to the positions of the plurality of roads, and then the plurality of candidate roads may be determined among the plurality of roads according to the distances from the current position to the plurality of roads. The navigation start point road of the vehicle is one of the candidate roads.
And S22, acquiring the forward track point data of the vehicle, wherein the forward track point data is the track point data before the vehicle reaches the current position.
The forward track point is the track point between the vehicle and the current position. For example, after the navigation software program is started and before the navigation is initiated, the terminal device may acquire the position of the vehicle and use the position of the vehicle as a forward track point. The terminal equipment can acquire the position of the vehicle according to the preset time interval, so that a plurality of forward track points with different time information are obtained. To preceding track point, can acquire corresponding preceding track point data, preceding track point data can include track point position, track point speed, track point direction etc. of preceding track point.
And S23, determining the driving direction of the vehicle according to the forward track point data.
After the forward track point data is acquired, the driving direction of the vehicle can be determined according to the forward track point data. For example, if the forward track point data includes track point directions, the driving direction of the vehicle can be determined according to the track point directions of the forward track points; for example, if the forward track point data includes track point positions, the running direction of the track points may be obtained according to the track point positions of the plurality of forward track points, so as to determine the running direction of the vehicle, and so on.
And S24, determining a navigation starting point road of the vehicle in the candidate roads according to the driving direction and the road directions of the candidate roads.
After the traveling direction of the vehicle is determined, the navigation start point road of the vehicle may be determined based on the traveling direction of the vehicle and the road directions of the candidate roads. The driving direction may be used as the only reference factor for determining the navigation start point road, for example, the candidate road with the smallest difference between the road direction and the driving direction may be used as the navigation start point road.
The driving direction can also be used as one of the reference factors for determining the navigation starting point road, and is used for further screening a plurality of candidate roads. For example, the plurality of candidate roads may be screened according to the traveling direction of the vehicle and the road directions of the plurality of candidate roads, and the candidate road having a small difference between the road direction and the traveling direction may be used as the navigation start point road.
If there are a plurality of candidate roads with small difference between the road direction and the driving direction, the data of other roads of the candidate roads can be combined for further screening, so as to determine the navigation starting point road. For example, when there are a plurality of candidate roads having small differences between the road direction and the traveling direction, the candidate road closest to the current position of the vehicle may be used as the navigation start point road according to the road position.
According to the method for determining the navigation starting point road, firstly, a plurality of candidate roads are determined in a plurality of roads according to the road data of the plurality of roads corresponding to the current position of the vehicle, so that the preliminary screening of the navigation starting point road is realized; then, forward track point data of the vehicle is obtained, the forward track point data is track point data before the vehicle reaches the current position, and the driving direction of the vehicle is determined according to the forward track point data, so that the navigation starting point road of the vehicle is determined in a plurality of candidate roads according to the driving direction and the road directions of the candidate roads. The method has the advantages that the driving direction of the vehicle is determined through the forward track point data aiming at the scene with complex road network or poor road network precision, and the direction information with more reference value than the road distance is provided, so that the navigation starting point road of the vehicle can be matched according to the driving direction during navigation, and the accuracy of determining the navigation starting point road is improved.
Based on the above description, the navigation starting point road determination method provided by the present disclosure will be further described in detail below.
Fig. 3 is a schematic flowchart of a method for determining a candidate road according to an embodiment of the disclosure, as shown in fig. 3, including:
and S31, obtaining confidence degrees of the multiple roads according to the road data, wherein the confidence degrees are used for indicating the probability that the corresponding road is the navigation starting point road.
When navigation is initiated, the position of the positioned vehicle is the current position, and road data of a plurality of roads can be acquired according to the current position of the vehicle. For example, local road data within 200 meters nearby is obtained based on the current position request of the vehicle, wherein the local road data comprises 20 roads, then distances from the current position to the 20 roads are obtained, and the nearest M roads are determined as a plurality of roads, where M may be 8, 10, 12, and so on.
After the road data of a plurality of roads are obtained, the confidence of the roads can be obtained based on the road data, and the confidence is used for indicating the probability that the corresponding road is the navigation starting point road. The higher the confidence, the higher the probability that the corresponding road is the navigation starting point road, and the lower the confidence, the lower the probability that the corresponding road is the navigation starting point road.
The confidence degrees of the multiple roads can be obtained based on a Gradient Boosting Decision Tree (GBDT) model. The GBDT model is a classification model, and taking a binary classification model as an example, when the GBDT model is trained, the training sample may include sample road data of two sample roads and corresponding labeling information. The sample road data may include one or more of the distance between the current position and the sample road, the speed limit value of the sample road, the direction of the sample road, the width of the sample road, the road grade of the sample road, and the like, and the marking information is the sample probability that the sample vehicle is on the two sample roads. And then, inputting the road data of the two sample roads into the GBDT model to obtain the probability that the sample vehicle output by the GBDT model is positioned on the two sample roads. The parameters of the GBDT model may be adjusted based on the sample probabilities and the probabilities output by the GBDT model. After multiple rounds of training, the GBDT model after training can be obtained.
After the GBDT model training is completed, confidence levels for the multiple roads may be obtained based on the GBDT model. Specifically, a plurality of roads may be combined two by two to obtain a plurality of road pairs, and each road pair includes two roads. Taking the number of the multiple roads as 10 as an example, every two of the 10 roads are combined to obtain 45 road pairs.
For any one road pair, the road data of two roads in the road pair can be input into the GBDT model, the probabilities of the vehicles currently located on the two roads output by the GBDT model are obtained, and then the two roads are voted according to the probabilities of the vehicles located on the two roads. For example, for a road a and a road B in a certain road pair, the probability that the vehicle is currently located on the road a and the probability distribution on the road B are 0.6 and 0.1 according to the GBDT model, and then the road with the higher probability value may be voted, that is, the road a obtains one vote.
For any road pair, voting can be carried out on one of the roads by adopting the method, and then votes of all the road pairs are summarized, so that the total votes of each road can be obtained, and the total votes can be used as the confidence coefficient of the road.
And S32, determining a plurality of candidate roads in the plurality of roads according to the confidence degrees.
Since the confidence coefficient indicates the probability that the corresponding road is the navigation starting point road, and the existence of the positioning error of the current position of the vehicle is considered, the road with the higher confidence coefficient can be determined as the candidate road, and the number of the candidate roads is multiple. For example, of the 10 roads, three roads with the highest confidence may be determined as candidate roads.
After determining the candidate roads and the confidence levels of the candidate roads, forward track point data of the vehicle may be obtained. Before obtaining the forward track point data of the vehicle, determining a road scene where the vehicle is located according to the road data of the candidate road, wherein the road scene is an intersection scene or a non-intersection scene.
In an embodiment of the disclosure, the road data includes at least a road location and a road direction. According to the road direction of the candidate road, the road included angle among the multiple candidate roads can be obtained; according to the road position of the candidate road, the distance between the current position of the vehicle and the candidate road can be acquired. According to the road included angles among the candidate roads and the distance between the current position and the candidate roads, the road scene where the vehicle is located can be determined.
Referring to fig. 4, the determination of the road scene is described, where fig. 4 is a schematic diagram of determining the road scene provided by the embodiment of the disclosure, as shown in fig. 4, the current position of the vehicle is located at point O, and three candidate roads, which are a road 41, a road 42, and a road 43, are illustrated in fig. 4.
According to the road directions of the three candidate roads, road angles between the three candidate roads can be obtained, in fig. 4, the road angle between the road 41 and the road 42 is α, the road angle between the road 41 and the road 43 is β, and the road angle between the road 42 and the road 43 is γ.
Whether the multiple candidate roads have relative vertical relation can be judged according to the road included angles among the multiple candidate roads. Specifically, it may be determined whether road included angles between the plurality of candidate roads are within a preset angle range, and the preset angle range may be preset as needed. For example, the preset angle range may be set to 75 degrees to 105 degrees, may be set to 80 degrees to 100 degrees, may be set to 70 degrees to 120 degrees, or the like, based on factors such as an error in the accuracy of the road data.
When the road included angle of at least two roads is within the preset angle range, it can be considered that a relative vertical relationship exists between the candidate roads. Taking the three candidate roads in fig. 4 as an example, where the preset angle range is greater than or equal to 75 degrees and less than or equal to 105 degrees, the road 41, the road 42 and the road 43 are considered to have a relative vertical relationship as long as at least one road included angle among α, β and γ is within the preset angle range.
After determining that the candidate roads have the relative vertical relationship, the distance between the current position of the vehicle and the candidate road needs to be acquired according to the road positions of the candidate roads. In the electronic navigation map, the candidate roads may be generally represented by line segments, and the distance from the current position of the vehicle to the candidate roads may be the distance from the point where the current position is located to the line segment corresponding to the subsequent road.
For example, in fig. 4, the distance from the current position O to the road 41 is d1, the distance from the current position O to the road 42 is d2, and the distance from the current position O to the road 43 is d 3. After the distance between the current position of the vehicle and the candidate road is acquired, the distance is compared with a preset distance d. The preset distance is a preset distance, and the preset distance can be set by integrating the error of the current position of positioning and the road precision. And when the distances from the current position to the candidate roads are all smaller than or equal to the preset distance, determining that the candidate roads meet the condition of the distance. For example, d1 is less than or equal to d, d2 is less than or equal to d, and d3 is less than or equal to d in FIG. 4.
And when the plurality of candidate roads have relative vertical relation and the distance from the current position of the vehicle to the plurality of candidate roads is less than or equal to the preset distance, determining that the road scene where the vehicle is located is an intersection scene. And when the candidate roads have no relative vertical relation or the distance between the current position of the vehicle and a certain candidate road is greater than a preset distance, determining that the road scene where the vehicle is located is a non-intersection scene.
It is understood that the number of candidate roads, the preset angle range, and the preset distance may be preset to different values in different scenarios, and the values set in fig. 4 are only an example and do not constitute a limitation on specific values. According to the set number of the candidate roads, the preset angle range and the preset distance, the road scene where the vehicle is located can be determined by combining the road data of the candidate roads.
And determining the road scene where the vehicle is located, so that different strategies for determining the navigation starting point road can be adopted based on different road scenes. For a non-intersection scene, because the road condition related to the non-intersection scene is relatively simple, the multiple candidate roads may include parallel candidate roads, that is, the road direction difference of the multiple candidate roads is small, and the reference value of the direction information for determining the navigation starting point road of the vehicle is small at this time, the candidate road with the highest confidence coefficient can be determined as the navigation starting point road of the vehicle directly according to the confidence coefficients of the multiple candidate roads.
For the intersection scene, the road condition related to the intersection scene is complex, and the road direction difference of a plurality of candidate roads is large, so that the navigation starting point road of the vehicle needs to be determined together with the direction information.
By judging the road scene where the vehicle is located, a more appropriate strategy for determining the navigation starting point road of the vehicle can be selected according to different road scenes where the vehicle is located, so that the accuracy of navigation starting point road positioning is improved.
For a crossing scene, after a plurality of candidate roads are determined, forward track point data of a vehicle can be obtained, wherein the forward track point data is track point data before the vehicle reaches the current position. For example, when the user opens the navigation software through the terminal device, the terminal device starts to acquire the forward track point data. The current position of the vehicle is a positioning position when navigation is initiated through navigation software, and track point data obtained after the navigation software is started and before the navigation is initiated through the navigation software belong to forward track point data.
In the embodiment of the present disclosure, the forward track point data includes a plurality of forward track point related data, and the forward track point related data may include, for example, forward track point direction, track point speed, track point position, and other data of the forward track point. From the forward trajectory point data, the direction of travel of the vehicle can be determined.
After the forward track point data is obtained, whether the quality of the forward track point data meets the requirement or not needs to be judged according to the quality of the forward track point data. When the quality of the forward track point data meets the requirement, determining the driving direction of the vehicle according to the forward track point data; and when the quality of the forward track point data does not meet the requirement, abandoning the forward track point data, and directly determining the navigation starting point road of the vehicle according to the confidence degrees of the multiple candidate roads.
The determination of the quality of the forward trajectory point data is described below in connection with fig. 5. Fig. 5 is a schematic diagram of forward track points provided by the embodiment of the present disclosure, please refer to fig. 5, which illustrates a plurality of forward track points, that is, track points 1 to 10 arranged according to a time sequence, where track point 1 is the earliest forward track point and track point 10 is the latest forward track point.
In the embodiment of the present disclosure, when determining the data quality of the forward trace points, first, a plurality of forward trace points need to be divided to obtain a plurality of trace point pairs, where each trace point pair includes two adjacent first trace points and second trace points. The track point pairs are determined based on the time information of the track points, for example, in fig. 5, the track points 1 to 10 are 10 track points arranged according to the time sequence, where the track point 1 and the track point 2 can be used as one track point pair, the track point 2 and the track point 3 can be used as one track point pair …, and the track point 9 and the track point 10 can be used as one track point pair. In a track point pair, the track point with earlier time information is the first track point, and the track point with later time information is the second track point.
After the track point pairs are determined, track point information of the plurality of track point pairs can be acquired according to the forward track point data, and the track point information of the track point pairs can comprise track point positions, track point directions and track point speeds of the first track points. Because the second track point is the next track point of the first track point, the time difference between the first track point and the second track point can be determined according to the time information of the first track point and the time information of the second track point. Then, according to the track point position, the track point direction and the track point speed of the first track point and the time difference between the first track point and the second track point, the predicted track point position can be determined, wherein the predicted track point position is the track point position which is predicted according to the track point position, the track point direction and the track point speed of the first track point and is subjected to a certain time difference. After the predicted track point position is obtained, the data quality of the corresponding track point pair can be determined according to the predicted track point position and the track point position of the second track point.
Because the time difference between the first track point and the second track point in one track point pair is usually small, the changes of speed, direction and the like between the first track point and the second track point are also small, and the position of the predicted track point obtained according to the prediction of the track point position, the track point direction and the track point speed of the first track point is close to the track point position of the second track point. Therefore, after the predicted track point position is obtained, the distance between the predicted track point position and the track point position of the second track point is calculated, and when the distance between the predicted track point position and the track point position of the second track point is smaller than or equal to a preset threshold value, the data quality of the track point pair is determined to meet the requirement.
Taking the track point 9 and the track point 10 in fig. 5 as an example, the track point 9 is a first track point, and the track point 10 is a second track point. The direction of the track point 9 is theta, the speed is vlastThe coordinate is (x)last,ylast) And dt is the time difference between trace point 9 and trace point 10.
According to the direction theta and speed v of the track point 9lastThe speed of the track point 9 in the x-direction and the y-direction can be determined, wherein the speed v of the track point 9 in the x-directionx＝vlastX cos theta, velocity v of trace point 9 in y directiony＝vlast×sinθ。
From the direction, speed and coordinates of the track point 9, the coordinates (x, y) of the predicted track point can be obtained, as illustrated by the dashed box in fig. 5, where (x, y) ═ xlast,ylast)+(vx，vy) X dt, i.e. x ═ xlast+vx×dt，y＝ylast+vy×dt。
Let the coordinates of the trace point 10 be (x)cur,ycur) The data quality of a pair of trace points, trace point 9 and trace point 10, is considered to be satisfactory when the following expression (1) is satisfied, where the equal signs in the following expression (1) indicate that they are approximately equal.
(xcur,ycur)＝(xlast,ylast)+(vx，vy)×dt (1)
For any one pair of trajectory points, the data quality of the pair of trajectory points may be determined in the manner described above. After the data quality of the plurality of pairs of track points is obtained, the quality of the forward track point data can be determined according to the data quality of the plurality of pairs of track points. For example, acquiring a ratio of the data quality of the track point pair meeting the requirement, and determining that the quality of the forward track point data meets the requirement when the ratio meeting the requirement is greater than or equal to a preset ratio; for example, whether the data quality of the plurality of pairs of track points meets the requirement is judged, and if the data quality of the plurality of pairs of track points meets the requirement, the quality of the forward track point data is determined to meet the requirement.
After the quality of the forward track point data is determined to meet the requirements, the driving direction of the vehicle can be determined according to the forward track point data. Through the quality judgment of the forward track point data, the driving direction can be determined based on the forward track point data on the premise that the quality of the forward track point data meets the requirement, so that the accuracy of determining the driving direction is improved, and the accuracy of positioning the navigation starting point road is further improved. This process is described below in conjunction with fig. 6.
Fig. 6 is a schematic flowchart of determining a driving direction according to an embodiment of the present disclosure, and as shown in fig. 6, the method includes:
and S61, acquiring the current positioning direction of the vehicle.
The current positioning direction of the vehicle is the direction determined according to the positioning when the vehicle is at the current position. When navigation is initiated, the current location direction of the vehicle may be obtained.
And S62, acquiring the track connection direction between the adjacent forward track points according to the track point positions.
Adjacent track direction of connection to between the track point, refer to two adjacent preceding track points, the preceding direction of track point after the preceding direction to the direction of track point. For example, in fig. 5, the track connection direction between the track point 2 and the track point 3 is the direction from the track point 2 to the track point 3, and the track connection direction between the track point 8 and the track point 9 is the direction from the track point 8 to the track point 9. For any two adjacent forward track points, the track connecting direction between the adjacent forward track points can be obtained according to the track point positions of the two forward track points and the time information of the two forward track points.
And S63, determining the driving direction according to the positioning direction, the track point direction and the track point connecting direction.
In the embodiment of the present disclosure, three types of directions are involved in total, which are a positioning direction, a track point direction, and a track connection direction, where the positioning direction refers to a direction of a vehicle obtained by positioning at a current position of the vehicle, the track point direction refers to a direction of a plurality of forward track points, and the track connection direction refers to a direction determined according to a track point position between adjacent forward track points.
After the positioning direction, the track point direction and the track connecting direction are obtained, the target forward track points can be determined in a plurality of forward track points according to the positioning direction, the track point direction and the track connecting direction, and the target forward track points refer to the forward track points with the angle difference between the positioning direction, the corresponding track point direction and the corresponding track connecting direction, which meets the requirements. This process will be described below in conjunction with fig. 7.
Fig. 7 is a schematic diagram of determining target forward track points provided by the embodiment of the present disclosure, and as shown in fig. 7, the number of the forward track points is 10, and the track points 1, 2, 10 are sequentially arranged from front to back according to the time sequence.
Let the positioning direction of the current position of the vehicle be Dircur(ii) a The direction set of the track points formed by a plurality of track points is G, G ═ G1,G2,...,Gm]Which isIn, m is the number of tracing points, GiThe direction of the trace point of the ith trace point is shown; the set of track connection directions formed by a plurality of adjacent forward track points is D, D ═ D1,D2,...,Dm]，DiAnd connecting the ith track point and the (i + 1) th track point, wherein the (m + 1) th track is the current position of the vehicle. For example, in fig. 7, the dashed directional line is a track connecting direction formed by adjacent forward track points, the directional solid line on the forward track point exemplifies a track point direction of the forward track point, and the directional solid line exemplified on the current position O represents a positioning direction.
Aiming at any ith track point, the positioning direction Dir can be obtainedcurTrack point direction G with ith track pointiFirst angle difference therebetween, positioning direction DircurTrack connection direction D corresponding to ith track pointiThe second angle difference and the track connecting direction D corresponding to the ith track pointiAnd track point direction GiA third angular difference therebetween.
Wherein the orientation DircurWith direction of track point GiA first angular difference therebetween can be expressed as | Dircur-GiL, direction of orientation DircurDirection of connection with track DiThe second angular difference therebetween can be expressed as | Dircur-DiL, track connecting direction DiAnd the direction of track point GiA third angular difference therebetween can be expressed as | Di-GiAnd | a | represents the absolute value of a.
After the first angle difference, the second angle difference and the third angle difference corresponding to the ith track point are obtained, the first angle difference, the second angle difference and the third angle difference can be compared with a preset angle respectively, and when the first angle difference, the second angle difference and the third angle difference are all smaller than or equal to the preset angle, the ith track point can be determined to be a target forward track point.
The number of the forward track points of the target is set to be N, and N is initially set to be 0. And for the m forward track points, all the track points can be traversed from i ═ 1 to judge whether the ith forward track point is a target forward track point.
If yes, updating N to be N +1, updating i to be i +1 when i is smaller than m, repeating the step of judging the target forward track point, and stopping traversing until i is equal to m;
if not, the direction G of the track point is determinediDeleting the track from the track point direction set G and connecting the track with the direction DiAnd is deleted from the set D of trajectory connecting directions.
When i is smaller than m, updating i to i +1, repeating the step of judging the target forward track points, and when i is equal to m, stopping the traversal step, and finally obtaining the number N of the target forward track points and an updated track point direction set GnewAnd an updated set of trajectory connecting directions DnewWherein the updated set of track point directions GnewIncluding the track point direction of N target forward track points, the track connection direction set D of renewalnewIncluding the track connection directions of the N target forward track points.
Through screening to the track point, confirm the track point before the same target with the direction of travel, can reject the relatively poor preceding track point of direction data in the track point to only keep the data of the more accurate target of location to the track point, be favorable to improving the accuracy that the direction of travel was confirmed.
After the target forward track points are determined, the driving direction of the vehicle can be determined according to the number of the target forward track points. Specifically, the number of target forward trace points may be compared with a preset value, where the preset value k is a numerical value greater than 0 and less than m (the number of forward trace points).
When the number N of the target forward track points is larger than or equal to a preset value, the driving direction can be determined according to the track point direction, the track connecting direction and the positioning direction corresponding to the target forward track point. For example, the driving direction may be obtained by averaging the track point direction, the track connecting direction, and the positioning direction of the plurality of target forward track points. When the number N of the target forward track points is less than the preset value, the driving direction may be determined as the preset direction.
The following equation (2) illustrates one implementation of determining a direction of travel:
Figure BDA0003557399990000141
wherein, DirvalidFor driving direction, N is the number of target forward track points, k is a preset value, GnewFor an updated set of track point directions, DnewConnecting sets of directions for updated tracks, DircurFor orientation, average (G)new，Dnew，Dircur) Is shown as being to GnewElement (ii) and DnewElement of (5), and DircurAnd (6) calculating an average value.
After the driving direction of the vehicle is determined, weighting values of the plurality of candidate roads may be acquired according to the driving direction of the vehicle and road directions of the plurality of candidate roads. For example, an angle difference between the traveling direction of the vehicle and the road direction of the candidate road may be acquired, and the weighting value of the candidate road may be acquired based on the angle difference.
The weighting value may be determined, for example, based on an angle difference between the angle difference and a preset angle. For example, the weighting values may be negatively correlated with the angular difference values, with the greater the angular difference value, the smaller the weighting value, and the smaller the angular difference value, the greater the weighting value. For example, the weighting value may be set to a different value according to the magnitude of the angle difference value, and so on.
After the weighted value of the candidate road is determined, the confidence of the candidate road can be weighted according to the weighted value, so as to obtain the weighted confidence. One possible method for calculating the confidence of the candidate road after weighting is illustrated in equation (3) below:
Figure BDA0003557399990000142
wherein, VixWeighted confidence, V, for candidate link iiWeighting the confidence before processing, L, for the candidate link iiIs the road direction of the candidate road i, DirvalidIs a driving sideAnd beta is a preset angle, when the angle difference value is smaller than the preset angle beta, the weighted value is 1.3, and when the angle difference value is larger than or equal to the preset angle, the weighted value is 1.
It is to be understood that the weighting values in the above formula are only an example, and do not constitute a limitation on the value of the weighting values. And after the confidence degrees of the candidate roads are weighted according to the weighted values to obtain the weighted confidence degrees, determining the navigation starting point road in the candidate roads according to the weighted confidence degrees. For example, the candidate roads may be reordered according to the weighted confidence levels, and then the candidate road with the highest weighted confidence level may be determined as the navigation start point road. And the confidence coefficient of the candidate road is subjected to weighting updating processing by integrating the driving direction and the road direction of the candidate road, and then the navigation starting point road is determined based on the weighted confidence coefficient, so that the accuracy of starting point road binding is improved.
To sum up, the method for determining a navigation starting point road provided by the embodiment of the present disclosure firstly performs preliminary screening on a plurality of roads through road data of the plurality of roads corresponding to a current position to determine a plurality of candidate roads and corresponding confidence degrees, and then obtains forward track point data for an intersection scene through judgment of a road scene where a vehicle is located, thereby determining a driving direction of the vehicle according to the forward track point data, performing weighted update on the confidence degrees of the candidate roads based on the driving direction of the vehicle and the road directions of the candidate roads, and finally determining the navigation starting point road of the vehicle in the plurality of candidate roads. According to the scheme, for the intersection scene, the distance between the current position and the road is not taken as the matching characteristic of the maximum weight, and the direction information more accurate than the distance is provided to be taken as the reference for subsequently determining the navigation starting point road, so that the accuracy of starting point positioning is improved.
Fig. 8 is a schematic structural diagram of a navigation starting point road determination device according to an embodiment of the disclosure, and as shown in fig. 8, the navigation starting point road determination device 80 may include:
a first determining unit 81 configured to determine a plurality of candidate roads among a plurality of roads corresponding to a current position of a vehicle, according to road data of the plurality of roads, the road data including a road direction;
an obtaining unit 82, configured to obtain forward trajectory point data of the vehicle, where the forward trajectory point data is trajectory point data before the vehicle reaches the current position;
a processing unit 83 for determining a driving direction of the vehicle according to the forward trajectory point data;
a second determining unit 84 for determining a navigation start point road of the vehicle among the plurality of candidate roads, based on the traveling direction and road directions of the plurality of candidate roads.
In a possible implementation, the obtaining unit 82 includes:
the first determining module is used for determining a road scene where the vehicle is located according to the road data of the candidate roads, wherein the road scene is an intersection scene or a non-intersection scene;
and the first acquisition module is used for acquiring the forward track point data when the road scene is the intersection scene.
In one possible embodiment, the road data further comprises a road location; the first determining module includes:
the first acquisition sub-module is used for acquiring road included angles among the candidate roads according to the road directions of the candidate roads;
the second obtaining submodule is used for obtaining the distances between the current position and the candidate roads according to the road positions of the candidate roads;
and the first determining submodule is used for determining the road scene according to the road included angle and the distance between the current position and the candidate road.
In one possible implementation mode, the forward track point data comprises track point directions, track point speeds and track point positions of a plurality of forward track points; the processing unit 83 includes:
the second determining module is used for determining the data quality of the forward track point according to the track point direction, the track point speed and the track point position;
and the third determining module is used for determining the driving direction according to the track point direction and the track point position when the data quality of the forward track point meets the requirement.
In one possible implementation, the second determining module includes:
the second determining submodule is used for determining a plurality of track point pairs in the forward track points, and the track point pairs comprise two adjacent first track points and second track points;
the third obtaining submodule is used for obtaining track point information of the plurality of track point pairs, and the track point information comprises track point positions, track point directions and track point speeds of the first track points;
the third determining submodule is used for determining the data quality of the plurality of track point pairs according to the track point information of the plurality of track point pairs;
and the fourth determining submodule is used for determining the quality of the forward track point data according to the data quality of the plurality of track point pairs.
In one possible embodiment, for any one of the plurality of pairs of trajectory points; the third determining submodule is specifically configured to:
determining the time difference between the first track point and the second track point according to the time information of the first track point and the time information of the second track point;
determining a predicted track point position according to the track point position, the track point direction, the track point speed and the time difference of the first track point;
and determining the data quality of the track point pair according to the position of the predicted track point and the position of the second track point.
In one possible implementation, the third determining module includes:
the fourth acquisition sub-module is used for acquiring the current positioning direction of the vehicle;
the fifth acquisition sub-module is used for acquiring the track connection direction between the adjacent forward track points according to the track point position;
and the fifth determining submodule is used for determining the driving direction according to the positioning direction, the track point direction and the track connecting direction.
In a possible implementation, the fifth determining submodule is specifically configured to:
determining a target forward track point in the plurality of forward track points according to the positioning direction, the track point direction and the track connection direction;
and determining the driving direction according to the number of the target forward track points.
In a possible implementation, the fifth determining submodule is specifically configured to:
aiming at any forward track point, acquiring a first angle difference between the positioning direction and the track point direction, a second angle difference between the positioning direction and the track connecting direction and a third angle difference between the track connecting direction and the track point direction;
and determining the forward track points of which the first angle difference, the second angle difference and the third angle difference are less than or equal to a preset angle as the forward track points of the target.
In a possible implementation, the fifth determining submodule is specifically configured to:
when the number of the target forward track points is larger than or equal to a preset value, determining the driving direction according to the track point direction, the track connection direction and the positioning direction corresponding to the target forward track point;
and when the number of the target forward track points is smaller than the preset value, determining the driving direction as a preset direction.
In a possible implementation, the first determining unit 81 includes:
the second obtaining module is used for obtaining confidence degrees of the multiple roads according to the road data, wherein the confidence degrees are used for indicating the probability that the corresponding road is the navigation starting point road;
a fourth determining module, configured to determine the candidate roads from the roads according to the confidence degrees.
In a possible implementation, the second determining unit 84 includes:
the third acquisition module is used for acquiring weighted values of the candidate roads according to the driving direction and the road directions of the candidate roads;
the first processing module is used for carrying out weighting processing on the confidence coefficient of the corresponding candidate road according to the weighting value to obtain the weighted confidence coefficient;
and the second processing module is used for determining the navigation starting point road in the candidate roads according to the weighted confidence degrees.
The navigation starting point road determining device provided by the embodiment of the application is used for executing the method embodiment, the implementation principle and the technical effect are similar, and details are not repeated here.
The present disclosure provides a method, an apparatus, a device and a storage medium for determining a navigation starting point road, which are applied to the fields of intelligent transportation, automatic driving and the like in a data processing technology, so as to achieve the purpose of improving the accuracy of starting point road binding during vehicle navigation.
It should be noted that the head model in this embodiment is not a head model for a specific user, and cannot reflect personal information of a specific user. It should be noted that the two-dimensional face image in the present embodiment is from a public data set.
In the technical scheme of the disclosure, the collection, storage, use, processing, transmission, provision, disclosure and other processing of the personal information of the related user are all in accordance with the regulations of related laws and regulations and do not violate the good customs of the public order.
The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.
According to an embodiment of the present disclosure, the present disclosure also provides a computer program product comprising: a computer program, stored in a readable storage medium, from which at least one processor of the electronic device can read the computer program, the at least one processor executing the computer program causing the electronic device to perform the solution provided by any of the embodiments described above.
FIG. 9 illustrates a schematic block diagram of an example electronic device 900 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 9, the apparatus 900 includes a computing unit 901, which can perform various appropriate actions and processes in accordance with a computer program stored in a Read Only Memory (ROM)902 or a computer program loaded from a storage unit 908 into a Random Access Memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the device 900 can also be stored. The calculation unit 901, ROM 902, and RAM 903 are connected to each other via a bus 904. An input/output (I/O) interface 905 is also connected to bus 904.
A number of components in the device 900 are connected to the I/O interface 905, including: an input unit 906 such as a keyboard, a mouse, and the like; an output unit 907 such as various types of displays, speakers, and the like; a storage unit 908 such as a magnetic disk, optical disk, or the like; and a communication unit 909 such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 909 allows the device 900 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The computing unit 901 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 901 performs the respective methods and processes described above, such as the navigation origin road determination method. For example, in some embodiments, the navigation origin road determination method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 908. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 900 via ROM 902 and/or communications unit 909. When the computer program is loaded into the RAM 903 and executed by the computing unit 901, one or more steps of the navigation origin road determination method described above may be performed. Alternatively, in other embodiments, the calculation unit 901 may be configured to perform the navigation origin road determination method by any other suitable means (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The Server can be a cloud Server, also called a cloud computing Server or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service ("Virtual Private Server", or simply "VPS"). The server may also be a server of a distributed system, or a server incorporating a blockchain.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Claims (27)

1. A navigation origin road determination method comprises the following steps:
determining a plurality of candidate roads in a plurality of roads according to road data of the plurality of roads corresponding to the current position of the vehicle, wherein the road data comprises road directions;
acquiring forward track point data of the vehicle, wherein the forward track point data is track point data before the vehicle reaches the current position;
determining the driving direction of the vehicle according to the forward track point data;
and determining a navigation starting point road of the vehicle in the candidate roads according to the driving direction and the road directions of the candidate roads.
2. The method of claim 1, wherein acquiring forward trajectory point data for the vehicle comprises:
determining a road scene where the vehicle is located according to the road data of the candidate roads, wherein the road scene is an intersection scene or a non-intersection scene;
and when the road scene is the intersection scene, acquiring the forward track point data.
3. The method of claim 2, wherein the road data further comprises a road location; determining the road scene where the vehicle is located according to the road data of the candidate roads, wherein the determining comprises the following steps:
acquiring road included angles among the candidate roads according to the road directions of the candidate roads;
according to the road positions of the candidate roads, the distances from the current position to the candidate roads are obtained;
and determining the road scene according to the road included angle and the distance between the current position and the candidate road.
4. The method of any of claims 1-3, wherein the forward trajectory point data comprises trajectory point directions, trajectory point speeds, and trajectory point positions of a plurality of forward trajectory points; determining a direction of travel of the vehicle from the forward trajectory point data, comprising:
determining the quality of the forward track point data according to the track point direction, the track point speed and the track point position;
and when the quality of the forward track point data meets the requirement, determining the driving direction according to the track point direction and the track point position.
5. The method of claim 4, wherein determining the forward track point data quality from the track point direction, the track point velocity, and the track point position comprises:
determining a plurality of track point pairs in the forward track points, wherein the track point pairs comprise two adjacent first track points and second track points;
track point information of the plurality of track point pairs is obtained, wherein the track point information comprises track point positions, track point directions and track point speeds of the first track points;
determining the data quality of the plurality of track point pairs according to the track point information of the plurality of track point pairs;
and determining the quality of the forward track point data according to the data quality of the plurality of track point pairs.
6. The method of claim 5, wherein for any one of the plurality of pairs of trajectory points; determining the data quality of the track point pair according to the track point information of the track point pair, wherein the data quality comprises the following steps:
determining the time difference between the first track point and the second track point according to the time information of the first track point and the time information of the second track point;
determining a predicted track point position according to the track point position, the track point direction, the track point speed and the time difference of the first track point;
and determining the data quality of the track point pair according to the predicted track point position and the track point position of the second track point.
7. The method of any of claims 4-6, wherein determining the heading from the track point direction and the track point position comprises:
acquiring the current positioning direction of the vehicle;
acquiring the track connection direction between adjacent forward track points according to the track point positions;
and determining the driving direction according to the positioning direction, the track point direction and the track connecting direction.
8. The method of claim 7, wherein determining the driving direction from the positioning direction, the track point direction, and the track connection direction comprises:
determining a target forward track point in the plurality of forward track points according to the positioning direction, the track point direction and the track connection direction;
and determining the driving direction according to the number of the target forward track points.
9. The method of claim 8, wherein determining a target forward track point among the plurality of forward track points based on the positioning direction, the track point direction, and the track connection direction comprises:
aiming at any forward track point, acquiring a first angle difference between the positioning direction and the track point direction, a second angle difference between the positioning direction and the track connecting direction and a third angle difference between the track connecting direction and the track point direction;
and determining the forward track points of which the first angle difference, the second angle difference and the third angle difference are less than or equal to a preset angle as the forward track points of the target.
10. The method of claim 8 or 9, wherein determining the heading from the number of target forward trajectory points comprises:
when the number of the target forward track points is larger than or equal to a preset value, determining the driving direction according to the track point direction, the track connection direction and the positioning direction corresponding to the target forward track point;
and when the number of the target forward track points is smaller than the preset value, determining the driving direction as a preset direction.
11. The method according to any one of claims 1 to 10, wherein determining a plurality of candidate roads among a plurality of roads corresponding to a current position of the vehicle based on road data of the plurality of roads includes:
obtaining confidence degrees of the multiple roads according to the road data, wherein the confidence degrees are used for indicating the probability that the corresponding road is the navigation starting point road;
determining the plurality of candidate roads in the plurality of roads according to the confidence degrees.
12. The method of claim 11, wherein determining a navigation origin road of the vehicle among the plurality of candidate roads based on the travel direction and the road directions of the plurality of candidate roads comprises:
acquiring weighted values of the candidate roads according to the driving direction and the road directions of the candidate roads;
carrying out weighting processing on the confidence coefficient of the corresponding candidate road according to the weighting value to obtain the weighted confidence coefficient;
and determining the navigation starting point road in the candidate roads according to the weighted confidence.
13. A navigation origin road determination apparatus comprising:
a first determination unit configured to determine a plurality of candidate roads among a plurality of roads corresponding to a current position of a vehicle, according to road data of the plurality of roads, the road data including a road direction;
an obtaining unit, configured to obtain forward trajectory point data of the vehicle, where the forward trajectory point data is trajectory point data before the vehicle reaches the current position;
a processing unit for determining the driving direction of the vehicle according to the forward track point data;
a second determination unit configured to determine a navigation start point road of the vehicle among the plurality of candidate roads, based on the traveling direction and road directions of the plurality of candidate roads.
14. The apparatus of claim 13, wherein the obtaining unit comprises:
the first determining module is used for determining a road scene where the vehicle is located according to the road data of the candidate roads, wherein the road scene is an intersection scene or a non-intersection scene;
and the first acquisition module is used for acquiring the forward track point data when the road scene is the intersection scene.
15. The apparatus of claim 14, wherein the road data further comprises a road location; the first determining module includes:
the first obtaining submodule is used for obtaining road included angles among the candidate roads according to the road directions of the candidate roads;
the second obtaining submodule is used for obtaining the distances between the current position and the candidate roads according to the road positions of the candidate roads;
and the first determining submodule is used for determining the road scene according to the road included angle and the distance between the current position and the candidate road.
16. The apparatus of any of claims 13-15, wherein the forward trajectory point data comprises a trajectory point direction, a trajectory point speed, and a trajectory point position of a plurality of forward trajectory points; the processing unit includes:
the second determining module is used for determining the quality of the forward track point data according to the track point direction, the track point speed and the track point position;
and the third determining module is used for determining the driving direction according to the track point direction and the track point position when the quality of the forward track point data meets the requirement.
17. The apparatus of claim 16, wherein the second determining means comprises:
the second determining submodule is used for determining a plurality of track point pairs in the forward track points, and the track point pairs comprise two adjacent first track points and second track points;
the third obtaining submodule is used for obtaining track point information of the plurality of track point pairs, and the track point information comprises track point positions, track point directions and track point speeds of the first track points;
the third determining submodule is used for determining the data quality of the plurality of track point pairs according to the track point information of the plurality of track point pairs;
and the fourth determining submodule is used for determining the quality of the forward track point data according to the data quality of the plurality of track point pairs.
18. The apparatus of claim 17, wherein for any one of the plurality of pairs of trajectory points; the third determining submodule is specifically configured to:
determining the time difference between the first track point and the second track point according to the time information of the first track point and the time information of the second track point;
determining a predicted track point position according to the track point position, the track point direction, the track point speed and the time difference of the first track point;
and determining the data quality of the track point pair according to the position of the predicted track point and the position of the second track point.
19. The apparatus of any of claims 16-18, wherein the third determining means comprises:
the fourth obtaining submodule is used for obtaining the current positioning direction of the vehicle;
the fifth acquisition submodule is used for acquiring the track connection direction between the adjacent forward track points according to the track point position;
and the fifth determining submodule is used for determining the driving direction according to the positioning direction, the track point direction and the track connecting direction.
20. The apparatus of claim 19, wherein the fifth determination submodule is specifically configured to:
determining a target forward track point in the plurality of forward track points according to the positioning direction, the track point direction and the track connection direction;
and determining the driving direction according to the number of the target forward track points.
21. The apparatus of claim 20, wherein the fifth determination submodule is specifically configured to:
aiming at any forward track point, acquiring a first angle difference between the positioning direction and the track point direction, a second angle difference between the positioning direction and the track connecting direction and a third angle difference between the track connecting direction and the track point direction;
and determining the forward track points of which the first angle difference, the second angle difference and the third angle difference are less than or equal to a preset angle as the forward track points of the target.
22. The apparatus according to claim 20 or 21, wherein the fifth determination submodule is specifically configured to:
when the number of the target forward track points is larger than or equal to a preset value, determining the driving direction according to the track point direction, the track connection direction and the positioning direction corresponding to the target forward track point;
and when the number of the target forward track points is smaller than the preset value, determining the driving direction as a preset direction.
23. The apparatus according to any of claims 13-22, wherein the first determining unit comprises:
the second obtaining module is used for obtaining confidence degrees of the multiple roads according to the road data, wherein the confidence degrees are used for indicating the probability that the corresponding road is the navigation starting point road;
a fourth determining module, configured to determine the candidate roads from the roads according to the confidence degrees.
24. The apparatus of claim 23, wherein the second determining unit comprises:
the third acquisition module is used for acquiring weighted values of the candidate roads according to the driving direction and the road directions of the candidate roads;
the first processing module is used for carrying out weighting processing on the confidence coefficient of the corresponding candidate road according to the weighting value to obtain the weighted confidence coefficient;
and the second processing module is used for determining the navigation starting point road in the candidate roads according to the weighted confidence degrees.
25. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-12.
26. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-12.
27. A computer program product comprising a computer program which, when executed by a processor, carries out the steps of the method of any one of claims 1-12.
CN202210279173.6A 2022-03-21 2022-03-21 Navigation starting point road determining method, device, equipment and storage medium Pending CN114659537A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116045996A (en) * 2023-03-31 2023-05-02 高德软件有限公司 Method and equipment for determining road connection relation of crossing and generating virtual line of crossing

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116045996A (en) * 2023-03-31 2023-05-02 高德软件有限公司 Method and equipment for determining road connection relation of crossing and generating virtual line of crossing

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