CN115683143A

CN115683143A - High-precision navigation method and device, electronic equipment and storage medium

Info

Publication number: CN115683143A
Application number: CN202211340146.1A
Authority: CN
Inventors: 黄邦; 刘昌锋
Original assignee: Chongqing Changan Automobile Co Ltd
Current assignee: Chongqing Changan Automobile Co Ltd
Priority date: 2022-10-29
Filing date: 2022-10-29
Publication date: 2023-02-03

Abstract

The invention provides a high-precision navigation method and device, electronic equipment and a storage medium, wherein the high-precision navigation method comprises the following steps: acquiring a navigation track of vehicle running, and identifying a plurality of navigation points on the navigation track; projecting the navigation points into a high-precision map, drawing a circle by taking each navigation point as a circle center to form a circular frame, and marking road sections in all directions in the circular frame; generating a road course angle group of each road section, comparing all the road course angle groups in the adjacent circular frames, and screening out the road course angle groups in different directions to obtain a target course angle group; and storing the target course angle groups, assembling and outputting the high-precision navigation of the vehicle. According to the scheme, the navigation system and the navigation method can realize the calibration according to the navigation points and the grouped matching of course angles, and can simply, quickly and accurately generate the high-precision navigation data information meeting the automatic driving requirement.

Description

High-precision navigation method and device, electronic equipment and storage medium

Technical Field

The present application relates to the field of navigation technologies, and in particular, to a high-precision navigation method and apparatus, an electronic device, and a computer-readable storage medium.

Background

In recent years, with the rapid increase of the number of vehicles and the expansion of the range of a road network, the complexity of a road traffic system is increased day by day, a large number of road scenes such as complex overpasses, multiple intersections, parallel overpasses and the like appear, the data quality of high-precision navigation is very dependent on, the high-precision map data is required to eliminate the interference in the complex traffic scenes, and the high-precision map data with high quality is generated by rapid matching.

In a large area, the high-precision map data volume is large, roads are complex, intersections have numerous branches, if the high-precision data around the map are output according to the position of a self-parking place as a positioning point, directional information such as a driving direction and a destination does not exist, the high-precision map data output usually outputs data according to a main road priority algorithm or a general cruise algorithm, a large amount of high-precision map data irrelevant to the current journey can be generated or high-precision map data with a long distance cannot be given, the rear end needs to perform a large amount of logic processing on the generated high-precision map data, resources are wasted on the road data without any incidence relation with the current journey, the data analysis processing time is prolonged, and the timeliness of automatic driving cannot be met.

With the perfection and popularization of the standard-definition navigation map, all navigation path information can be planned according to the position and the destination of a vehicle in each travel of a user, navigation points are mapped to the high-precision map in advance according to navigation data generated by navigation path planning, and data of the high-precision navigation path are generated. However, the existing high-precision navigation path calculation mode is complex and poor in accuracy, and data information of high-precision navigation is difficult to provide quickly in the vehicle driving process, so that detailed path information cannot be provided for automatic driving in time, and judgment of automatic driving is influenced.

Disclosure of Invention

In view of the above drawbacks of the prior art, the present invention provides a high-precision navigation method and apparatus, an electronic device, and a storage medium, so as to solve the technical problems of complex calculation, poor preparation, and untimely time in the process of refining a navigation path based on a high-precision map.

In a first aspect, the present invention provides a high-precision navigation method, including:

acquiring a navigation track of vehicle running, and identifying a plurality of navigation points on the navigation track;

projecting the navigation points into a high-precision map, drawing a circle by taking each navigation point as a circle center to form a circular frame, and marking road sections in all directions in the circular frame;

generating a road course angle group of each road section, comparing all the road course angle groups in the adjacent circular frames, and screening out the road course angle groups in different directions to obtain a target course angle group;

and storing the target course angle groups, assembling the target course angle groups, and outputting the high-precision navigation of the vehicle.

Optionally, obtaining a navigation track of the vehicle, and identifying a plurality of navigation points on the navigation track, includes:

and if the distance between the adjacent navigation points is larger than or equal to the diameter of the circular frame, increasing the navigation points at the adjacent navigation points until the distance between the adjacent navigation points is smaller than the diameter of the circular frame.

Optionally, generating a road heading angle group of each road segment includes:

and generating road course angles according to the starting point to the end point of the road section, grouping the same road course angles into a group, and generating the road course angle group corresponding to the road section.

Optionally, generating a plurality of road heading angles according to the starting point to the end point of the road section, grouping the same road heading angles into a group, and generating the group of road heading angles corresponding to the road section, includes:

and if the road section is a curve, segmenting the road section and generating a segmented course angle, and taking the average value of a plurality of segmented course angles as the road course angle of the road section.

Optionally, generating a road heading angle group of each road section, comparing all the road heading angle groups in the adjacent circular frames, and screening out the road heading angle groups in different directions to obtain a target heading angle group, including:

and comparing the road course angle groups in the adjacent circular frames one by one, grouping two road course angles with the same heading angle in the adjacent circular frames as a group of target course angle groups, and at least reserving the group of target course angle groups.

and generating point course angles by taking adjacent navigation points as starting points, comparing the point course angles with each group of target course angle groups, and excluding the target course angle groups outside a target threshold value.

Optionally, the storing and assembling the target course angle groups, and outputting high-precision navigation of the vehicle, includes:

and acquiring a vehicle position, comparing the vehicle position with the circular frame range generated by all navigation points, finding the navigation point closest to the vehicle position, and outputting high-precision navigation of the vehicle by taking the vehicle position as a starting point.

In a second aspect, the present invention provides a high-precision navigation apparatus, comprising:

the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring a navigation track for vehicle running and identifying a plurality of navigation points on the navigation track;

the marking module is used for projecting the navigation points into a high-precision map, drawing a circle by taking each navigation point as a circle center to form a circular frame, and marking road sections in all directions in the circular frame;

the screening module is used for generating a road course angle group of each road section, comparing all the road course angle groups in the adjacent circular frames, screening the road course angle groups in different directions and obtaining a target course angle group;

and the output module is used for storing the target course angle groups, assembling the target course angle groups and outputting the high-precision navigation of the vehicle.

In a third aspect, the present invention provides an electronic device, comprising:

one or more processors;

a storage device for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement a high precision navigation method as in any one of the above.

In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon a computer program, which, when executed by a processor of a computer, causes the computer to execute any of the above-described high-precision navigation methods.

In the scheme realized by the high-precision navigation method and device, the electronic equipment and the storage medium, the navigation points on the navigation track are projected onto the high-precision map, so that the high-precision map has navigation path information, then the navigation points are used for drawing circles to form a circular frame, the information of the course angle of the lane is extracted from the circular frame and compared with the information, the high-precision road information of each section of the navigation track can be quickly acquired, and the high-precision navigation data on the navigation track can be formed by assembling. According to the scheme, the navigation system and the navigation method can realize the calibration according to the navigation points and the grouped matching of course angles, and can simply, quickly and accurately generate the high-precision navigation data information meeting the automatic driving requirement.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and, together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:

FIG. 1 is a schematic diagram of an implementation environment of a high-precision navigation method according to an exemplary embodiment of the present application;

FIG. 2 is a schematic diagram illustrating a process for calculating a certain section of a road according to an exemplary embodiment of the present application;

FIG. 3 is a road heading angle grouping for navigation points 2 and 3 of FIG. 2;

FIG. 4 is a flow chart illustrating a high accuracy navigation method in accordance with an exemplary embodiment of the present application;

FIG. 5 is a block diagram of a high precision navigation device shown in an exemplary embodiment of the present application;

FIG. 6 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application.

Detailed Description

Other advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure herein, wherein the embodiments of the present invention are described in detail with reference to the accompanying drawings and preferred embodiments. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be understood that the preferred embodiments are illustrative of the invention only and are not limiting upon the scope of the invention.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

In the following description, numerous details are set forth to provide a more thorough explanation of embodiments of the present invention, however, it will be apparent to one skilled in the art that embodiments of the present invention may be practiced without these specific details, and in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring embodiments of the present invention.

It should be noted that navigation is a technology of a critical path to a destination, and is a process of monitoring and controlling an object such as a vehicle or a pedestrian to move from one place to another place.

The positioning data in the precise map is only used for expressing the shape characteristics of roads, the folding lines of Cheng Yitiao are abstracted after the information such as the width of the roads in the transverse direction is removed from the roads in the precise map, different folding line ends are associated to form a road network, static information such as intersections, signboards and deceleration on the roads is associated to corresponding road segments, and finally the ground element information of the area to be passed through is broadcasted according to the position and the advancing direction of the positioning. The ground element information is rough compared with a high-precision map, and cannot accurately express accurate information required for vehicle control, such as road shapes and ground elements, in a certain specified position accurate section range. The high-precision map can accurately express ground elements such as fixed marker information and information contents of lanes, traffic lights, signs and the like, but because the data processing capability of a road calculation engine and the expression of transverse relation and data are added to the data expression, the high-precision map is greatly limited to the expression of navigation information due to the difference.

With the perfection and popularization of standard-definition navigation, all navigation path information can be planned according to the position of a vehicle and a destination of the vehicle in each travel of a user, navigation points are calibrated to a high-precision map in advance according to navigation data generated by planning of the navigation path, a range data is generated by taking the navigation points as the center, a series of complete high-precision data sets planned according to the navigation path are generated in a matching mode, high-precision map road data are compared, and road data which are not on the navigation path are eliminated. Grouping the high-precision map data generated by matching according to the course angle, carrying out primary comparison on grouped data of the front navigation point and the rear navigation point, then carrying out secondary comparison on the course angle generated by the front navigation point and the rear navigation point and the grouped data of the navigation points, eliminating the high-precision map data which does not meet the requirement, completing verification and output of the high-precision map data, improving the processing efficiency and accuracy of the map data, and meeting the requirement of automatic driving on the high-precision map.

The method has the advantages that the course angle grouping matching algorithm is used, roads with the same course angle are divided into one group, the repeated calculation matching times of the roads in the complex road environment can be reduced, the repeated matching of the roads with the same course angle is avoided, and the matching efficiency and speed of the related roads between two navigation points are improved.

Fig. 1 is a schematic diagram of an implementation environment of a high-precision navigation method according to an exemplary embodiment of the present application. The data information of the high-precision map in a large range is obtained through the high-precision map, and the coordinate information of the navigation point is calibrated into the high-precision map. As shown in fig. 2, a circle is simulated by setting a radius R using a navigation point as a center of a circle, and all road data in a high-precision map in an area are sequentially input into a circular range for comparison to find out all road data in the circular range. As shown in fig. 3, two groups of course angles are generated by the navigation point 2, one group of course angles is generated by the navigation point 3, the grouped course angle values generated by the front and rear navigation points are compared, the grouped data existing in the front and rear navigation points are found, the groups with different course angles are excluded, and finally the target course angle group 1 is obtained.

The precise map and the high-precision map can be installed on an intelligent terminal, and the intelligent terminal can be a terminal device which supports installation of navigation map software, such as a smart phone, a vehicle-mounted computer, a tablet computer, a notebook computer or a wearable device, but is not limited thereto. The intelligent terminal may communicate with the navigation server 220 through a wireless network such as 3G (third generation mobile information technology), 4G (fourth generation mobile information technology), 5G (fifth generation mobile information technology), and the like, which is not limited herein. The data is calculated and processed by the server, for example, the data may be an independent physical server, or may be a server cluster or a distributed system formed by a plurality of physical servers, or may be a cloud server providing basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a Network service, cloud communication, a middleware service, a domain name service, a security service, a CDN (Content Delivery Network), a big data and an artificial intelligence platform, and the like, which is not limited herein.

Referring to fig. 4, fig. 4 is a flowchart illustrating a high-precision navigation method according to an exemplary embodiment of the present application. The method may be applied to the implementation environment shown in FIG. 1 and specifically performed by a vehicle in the implementation environment. It should be understood that the method may be applied to other exemplary implementation environments and is specifically executed by devices in other implementation environments, and the embodiment does not limit the implementation environment to which the method is applied.

As shown in fig. 4, in an exemplary embodiment, the high-precision navigation method at least includes steps S410 to S40, which are described in detail as follows:

step S410, acquiring a navigation track of vehicle running, and identifying a plurality of navigation points on the navigation track.

It should be noted that the navigation track is obtained by inputting a starting point and a destination on the fine map, is an abstract irregular line, and has static information such as intersections, signboards, deceleration and the like. The navigation points are key points of the travel navigation track, and can be extracted from the precise map when the navigation track is formed.

In some embodiments, if the distance between adjacent navigation points is greater than or equal to the diameter of the circular frame, the navigation points are added to the adjacent navigation points until the distance between the adjacent navigation points is less than the diameter of the circular frame.

The navigation points are used for accurately expressing a navigation track, so that the navigation points are sparse on a straight road, the navigation track is not favorably picked up by a high-precision map through navigation point pairs, and the line point density needs to be improved; in the specific implementation process, the maximum interval between adjacent navigation points is required not to exceed the diameter of the circular frame, and the smaller interval between the navigation points can reduce the range of lane screening and improve the precision, so that the minimum interval between the adjacent navigation points is not restricted.

And step S420, projecting the navigation points into a high-precision map, drawing a circle by taking each navigation point as a circle center to form a circular frame, and marking road sections in all directions in the circular frame.

In the specific implementation process, all high-precision map data information in one area can be acquired, and then the navigation points are projected into the acquired high-precision map data information. And then, using the navigation point as a circle center to draw a circle to form a circular frame, wherein the diameter of the circular frame is at least larger than the sum of the widths of the roads where the navigation point is located, so that the circular frame can circle all road sections where the navigation point is located.

And step S430, generating a road course angle group of each road section, comparing all the road course angle groups in the adjacent circular frames, and screening the road course angle groups in different directions to obtain a target course angle group.

The course angle refers to an included angle between the mass center speed of the vehicle and a transverse axis under a ground coordinate system, and high-precision data information of the navigation track is quickly and accurately obtained on a high-precision map by calculating and comparing the course angle.

In some embodiments, road heading angles are generated according to the starting point to the end point of the road section, the road heading angles are grouped into a group, and the group of the road heading angles corresponding to the road section is generated. And if the road section is a curve, segmenting the road section and generating a segmented course angle, and taking the average value of a plurality of segmented course angles as the road course angle of the road section.

For example, in fig. 3, two groups of heading angles are generated at navigation point 2, one group of heading angles is generated at navigation point 3, the grouped heading angle values generated at the two navigation points before and after are compared to find the grouped data existing at the two navigation points before and after, and the groups with different heading angles are screened out, i.e. the heading angle group 2 is screened out, so that the heading angle group 1 is the target heading angle group.

In some embodiments, the road heading angle groups in the adjacent circular frames are compared one by one, two road heading angles with the same heading angle in the adjacent circular frames are grouped as a group of target heading angles, and at least one group of the target heading angle groups is reserved.

In some embodiments, point course angles are generated by taking adjacent navigation points as starting points, the point course angles are compared with each group of target course angle groups, and the target course angle groups outside a target threshold value are excluded.

In the practical implementation process, if the target course angle groups with the same heading angle in the adjacent circular frames have two or more groups, the target course angle groups can be further compared and screened through the point course angles, the similarity of the course angles of the target course angle groups and the point course angles is higher, the road sections which are not on the navigation track in the circular frames can be eliminated, and the correct road sections can be quickly and accurately screened.

And S440, storing the target course angle groups, assembling, and outputting the high-precision navigation of the vehicle.

In some embodiments, a vehicle position is obtained, the vehicle position is compared with a circle frame range generated by all navigation points, a navigation point closest to the vehicle position is found, and high-precision navigation of the vehicle is output with the vehicle position as a starting point.

And storing the high-precision map data generated by all navigation points, finally, after the vehicle coordinate position is transmitted, sequentially carrying out range comparison with the data information of the circular range generated by the navigation points, finding the navigation point where the current vehicle position is located, and outputting the high-precision map data backward from the current navigation point. The high-precision map data meeting the automatic driving requirement is generated according to navigation point calibration and course angle grouping matching.

In an embodiment, a high-precision navigation apparatus is provided, the high-precision navigation apparatus corresponds to the high-precision navigation methods in the above embodiments one to one, as shown in fig. 5, fig. 5 is a schematic structural diagram of a high-precision navigation apparatus shown in an exemplary embodiment of the present application, and the high-precision navigation apparatus includes an obtaining module 501, a marking module 502, a screening module 503, and an output module 504, and each functional module is described in detail as follows:

an obtaining module 501, configured to obtain a navigation track for vehicle driving, and identify a plurality of navigation points on the navigation track;

the marking module 502 is configured to project the navigation points into a high-precision map, draw a circle with each navigation point as a circle center to form a circular frame, and mark a road section in each direction in the circular frame;

the screening module 503 is configured to generate a road heading angle group of each road segment, compare all the road heading angle groups in the adjacent circular frames, and screen out the road heading angle groups in different directions to obtain a target heading angle group;

and the output module 504 is used for storing the target course angle groups, assembling the target course angle groups and outputting the high-precision navigation of the vehicle.

It should be noted that the high-precision navigation apparatus provided by the above embodiment and the high-precision navigation method provided by the above embodiment belong to the same concept, wherein specific ways for the modules and units to perform operations have been described in detail in the method embodiments, and are not described herein again. In practical applications, the high-precision navigation device provided in the above embodiments may be configured to distribute the functions to different functional modules according to needs, that is, to divide the internal structure of the device into different functional modules to complete all or part of the functions described above, which is not limited herein.

An embodiment of the present application further provides an electronic device, including: one or more processors; a storage device for storing one or more programs, which when executed by the one or more processors, cause the electronic device to implement the high-precision navigation method provided in the above-described embodiments.

FIG. 6 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application. It should be noted that the computer system 600 of the electronic device shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.

As shown in fig. 6, the computer system 600 includes a Central Processing Unit (CPU) 601, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, according to a program stored in a Read-Only Memory (ROM) 602 or a program loaded from a storage portion 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data necessary for system operation are also stored. The CPU 601, ROM 602, and RAM 603 are connected to each other via a bus 604. An Input/Output (I/O) interface 605 is also connected to bus 604.

The following components are connected to the I/O interface 605: an input portion 606 including a keyboard, a mouse, and the like; an output section 607 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 608 including a hard disk and the like; and a communication section 609 including a Network interface card such as a LAN (Local Area Network) card, a modem, or the like. The communication section 609 performs communication processing via a network such as the internet. The driver 610 is also connected to the I/O interface 605 as needed. A removable medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 610 as necessary, so that a computer program read out therefrom is mounted into the storage section 608 as necessary.

In particular, according to embodiments of the application, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 609, and/or installed from the removable medium 611. When the computer program is executed by a Central Processing Unit (CPU) 601, various functions defined in the system of the present application are executed.

It should be noted that the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having 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), a 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. In the present application, a computer-readable signal medium may comprise a propagated data signal with a computer-readable computer program embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.

Another aspect of the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to execute the high-precision navigation method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist separately without being incorporated in the electronic device.

Another aspect of the application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the high-precision navigation method provided in the above-mentioned embodiments.

The foregoing embodiments are merely illustrative of the principles of the present invention and its efficacy, and are not to be construed as limiting the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. A high accuracy navigation method, the method comprising:

and storing the target course angle groups, assembling and outputting the high-precision navigation of the vehicle.

2. The high accuracy navigation method according to claim 1, characterized in that: acquiring a navigation track of vehicle driving, and identifying a plurality of navigation points on the navigation track, wherein the navigation track comprises the following steps:

3. The high precision navigation method according to claim 1, characterized in that: generating a road heading angle grouping for each road segment, comprising:

4. A high precision navigation method according to claim 3, characterized in that: generating a plurality of road course angles according to the starting point to the end point of the road section, grouping the same road course angles into a group, and generating the road course angle group corresponding to the road section, wherein the steps of:

5. The high precision navigation method according to claim 4, characterized in that: generating a road course angle group of each road section, comparing all the road course angle groups in the adjacent circular frames, screening out the road course angle groups in different directions to obtain a target course angle group, and the method comprises the following steps:

and comparing the road course angle groups in the adjacent circular frames one by one, grouping two road course angles with the same heading angle in the adjacent circular frames as a group of target course angle groups, and at least reserving a group of target course angle groups.

6. The high precision navigation method according to claim 5, characterized in that: generating a road course angle group of each road section, comparing all the road course angle groups in the adjacent circular frames, screening out the road course angle groups in different directions to obtain a target course angle group, wherein the steps comprise:

7. The high accuracy navigation method of claim 6, wherein: storing and assembling the target course angle groups, and outputting high-precision navigation of the vehicle, wherein the steps comprise:

8. A high accuracy navigation device, the device comprising:

the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring a navigation track of vehicle running and identifying a plurality of navigation points on the navigation track;

9. An electronic device, characterized in that the electronic device comprises:

one or more processors;

storage means for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the high accuracy navigation method of any one of claims 1 to 7.

10. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to execute the high accuracy navigation method of any one of claims 1 to 7.