WO2023274229A1 - 车辆轨迹纠偏方法、装置及电子设备 - Google Patents

车辆轨迹纠偏方法、装置及电子设备 Download PDF

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Publication number
WO2023274229A1
WO2023274229A1 PCT/CN2022/101911 CN2022101911W WO2023274229A1 WO 2023274229 A1 WO2023274229 A1 WO 2023274229A1 CN 2022101911 W CN2022101911 W CN 2022101911W WO 2023274229 A1 WO2023274229 A1 WO 2023274229A1
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Prior art keywords
trajectory
track
points
road
vehicle
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PCT/CN2022/101911
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English (en)
French (fr)
Inventor
付国春
汪建球
朱云志
Original Assignee
中移(上海)信息通信科技有限公司
中移智行网络科技有限公司
中国移动通信集团有限公司
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Application filed by 中移(上海)信息通信科技有限公司, 中移智行网络科技有限公司, 中国移动通信集团有限公司 filed Critical 中移(上海)信息通信科技有限公司
Priority to KR1020237033399A priority Critical patent/KR20230148259A/ko
Priority to JP2023559080A priority patent/JP2024511492A/ja
Publication of WO2023274229A1 publication Critical patent/WO2023274229A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • 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
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • 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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • 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
    • G01C21/3667—Display of a road map
    • G01C21/367—Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data

Definitions

  • Embodiments of the present invention relate to the technical field of Internet of Vehicles, and in particular, to a vehicle trajectory correction method, device and electronic equipment.
  • the vehicle location can be monitored in real time, and the monitored vehicle location can be displayed on the electronic map.
  • the vehicle location In order to improve the display effect of the vehicle trajectory on the electronic map, it is usually necessary to correct the vehicle trajectory based on the vehicle position.
  • the vehicle trajectory correction method is usually combined with the historical trajectory of the vehicle for trajectory correction.
  • This trajectory correction method has a large scene constraint and limited applicability.
  • Embodiments of the present application provide a vehicle track deviation correction method, device, and electronic equipment to solve the problem of relatively large scene constraints and limited applicability of track deviation correction methods in the prior art.
  • the embodiment of the present application provides a method for correcting vehicle trajectory, the method comprising:
  • the first road trajectory including a plurality of first trajectory points
  • the track display information of the first road track on the electronic map including the position information of the plurality of first track points matching the road on the electronic map;
  • the first road trajectory is split into N trajectory sections, each trajectory section includes M consecutive first trajectory points, and each trajectory section has a unique path direction , the path direction is the path direction from the first first track point to the last first track point in the track section, N is a positive integer, and M is an integer greater than 1;
  • the embodiment of the present application provides a vehicle trajectory correction device, the device includes:
  • a first acquisition module configured to acquire a first road trajectory, the first road trajectory including a plurality of first trajectory points
  • the second acquiring module is configured to acquire track display information of the first road track on the electronic map, where the track display information includes position information where the plurality of first track points match the road on the electronic map;
  • the splitting module is configured to split the first road track into N track sections based on the road structure of the first track, each track section includes M consecutive first track points, and each track The road section has a unique path direction, which is the path direction from the first first track point to the last first track point in the track road section, N is a positive integer, and M is an integer greater than 1;
  • the vehicle trajectory correction module is configured to correct the vehicle trajectory on the electronic map based on the N trajectory sections and the trajectory display information.
  • the embodiment of the present application provides an electronic device, including a processor, a memory, and a computer program stored in the memory and operable on the processor.
  • the computer program is executed by the processor, The steps of the above-mentioned method for correcting the vehicle trajectory are realized.
  • an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned vehicle trajectory correction method are implemented.
  • the first road trajectory includes a plurality of first trajectory points; obtaining the trajectory display information of the first road trajectory on the electronic map, and the trajectory display information includes the The location information of the plurality of first track points matching the road on the electronic map; based on the road structure of the first road track, the first road track is split into N track sections, each track section Including M consecutive first track points, and each track section has a unique path direction, the path direction is the path direction from the first first track point to the last first track point in the track section; based on the The N track sections and the track display information correct the vehicle track on the electronic map.
  • the real-time vehicle trajectory correction can be performed directly based on the split N trajectory sections, so that its applicable scenarios are not limited.
  • Fig. 1 is a schematic flow chart of a vehicle trajectory correction method provided in an embodiment of the present application
  • Fig. 2 is a schematic diagram of the road trajectory collected by the trajectory acquisition vehicle
  • Fig. 3 is a schematic diagram showing the first road trajectory of an unbound road
  • Fig. 4 is a schematic diagram showing the first road track that has been bound
  • Fig. 5 is a split schematic diagram of the first road trajectory
  • Fig. 6 is a schematic diagram of elements after the track section is structured
  • Fig. 7 is one of the schematic diagrams for determining the target track point
  • Fig. 8 is the second schematic diagram of determining the target track point
  • Fig. 9 is a schematic flow chart of a specific example of the vehicle trajectory correction method provided by the embodiment of the present application.
  • Fig. 10 is a schematic structural diagram of a vehicle trajectory correction device provided by an embodiment of the present application.
  • FIG. 11 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • Satellite positioning technology is widely used in various positioning and navigation, but there are certain errors in satellite positioning. Errors usually come from two aspects. One is the performance of positioning chips of electronic equipment. Chips with good anti-interference performance usually have higher positioning accuracy. The other is the interference of environmental factors, including satellite signal occlusion, signal refraction, atmospheric or ionosphere interference, for example, in places with dense tall buildings or bad weather conditions, due to the GPS (Global Positioning System) signal passing through too much The secondary refraction and reflection will cause GPS signal error and drift.
  • GPS Global Positioning System
  • the vehicle trajectory correction method is usually combined with the historical trajectory of the vehicle for trajectory correction.
  • the solution applied to the historical trajectory correction of commercial vehicles has the problem of large scene constraints and limited applicability. Based on this, The embodiment of the present application provides a new vehicle trajectory correction solution.
  • the vehicle trajectory correction method provided in the embodiment of the present application relates to the technical field of the Internet of Vehicles, and can be widely used in multiple scenarios such as map navigation, position decision-making, and distance measurement.
  • the method can be executed by the vehicle trajectory correction device in the embodiment of the present application.
  • the vehicle trajectory correction device can be configured in any electronic device to implement the vehicle trajectory correction method.
  • the electronic device can be a server or a terminal such as a vehicle-mounted terminal device, which is not specifically limited here.
  • FIG. 1 shows a schematic flow chart of a vehicle trajectory correction method provided by an embodiment of the present application. As shown in Figure 1, the method may include the following steps:
  • step 101 a first road trajectory is obtained, and the first road trajectory includes a plurality of first trajectory points.
  • the first road trajectory can be the trajectory of the collected preset road
  • the preset road can be a road trajectory that has been marked on the electronic map, such as the road network of a certain city, or it can be a track that is not marked on the electronic map.
  • Road tracks such as roads in a remote area.
  • this scheme can be applied to scenarios under known vehicle operating roads, and the trajectory data of these known vehicle operating roads can be pre-processed, such as operating vehicles in the park, municipal buses, municipal cleaning vehicles and high-speed rescue vehicles etc. That is to say, road trajectories of known vehicle operating roads may be collected in advance to obtain the first road trajectories.
  • the first road track may include a plurality of first track points, and the multiple first track points may only include directly collected track points, or may include directly collected track points and track correction based on collected track points.
  • the track point is not specifically limited here.
  • the first road trajectory There are many ways to acquire the first road trajectory. For example, directly collect the trajectory points of the known vehicle operation roads through the positioning device to obtain the first road trajectory, or collect the trajectory points of the known vehicle operation roads. , and then perform denoising and correction processing on the collected track points to obtain the first road track. You can also obtain the first road track sent by other electronic devices, or obtain track points indirectly through other electronic devices such as third-party map providers. And generate a first road trajectory based on the obtained trajectory points.
  • track collection vehicles can be used to collect track points of known vehicle operating roads, and track position information of continuous track points can be obtained after collection.
  • the track position information can include latitude and longitude. In order to ensure the accuracy of the first road track Accuracy, latitude and longitude accuracy can reach 7 decimal places or more, and the distance between every two adjacent track points can be about 2 meters.
  • the track position information can also include the elevation angle between the two track points.
  • Fig. 2 is a schematic diagram of the road trajectory collected by the trajectory acquisition vehicle.
  • the continuous multiple trajectory points 202 collected by the trajectory acquisition vehicle on the known vehicle operation road 201 can constitute a road trajectory, and the collected
  • the track position information of some track points among multiple track points in succession is shown in Table 1.
  • the first road trajectory may be a road trajectory directly formed by collecting a plurality of continuous trajectory points, or may be a road trajectory formed by denoising and correcting a plurality of collected continuous trajectory points.
  • the first road trajectory obtained after the trajectory collection vehicle collects the trajectory points can be obtained, and in an optional implementation manner, the first road trajectory sent by the trajectory collection vehicle can be received.
  • Step 102 acquiring track display information of the first road track on the electronic map, where the track display information includes position information of the plurality of first track points matching the road on the electronic map.
  • the first road trajectory collected by the trajectory acquisition vehicle should match the road network on the electronic map.
  • the first road trajectory does not match the road network due to problems such as trajectory acquisition vehicle accuracy, acquisition environment, and electronic map accuracy, resulting in certain trajectory drift.
  • the first road trajectory 301 does not match the road network 302 , and there is a certain trajectory drift.
  • the first road trajectory can be matched with the road on the electronic map to ensure that the display of the first road trajectory matches the road on the electronic map, that is, the first road trajectory can be overlapped with the road network displayed on the electronic map to ensure that the subsequent
  • the real-time location information of the vehicle displayed on the road track is matched with the road on the electronic map. This process can be called road binding.
  • the plurality of first track points may be compared on the electronic map, and the track display information of the first track points is updated according to the latitude and longitude of the electronic map for track points with track offsets from the electronic map.
  • the first trajectory point can be displayed on the electronic map, and the matching situation between the first road trajectory and the actual road network displayed on the electronic map can be observed.
  • the first trajectory point can be adjusted to match the actual road network. Matched latitude and longitude to update the track display information of the first track point.
  • the actual position of the first track point can be The position information and the position information that the first track point matches the road on the electronic map, that is, the display information of the first track point, are associated and stored to obtain the track display information of the first road track on the electronic map.
  • the manner of comparing the plurality of first trajectory points on the electronic map may be manually or automatically matching the offset first road trajectory with the road displayed on the electronic map, based on the electronic map and the first The position information of the point matched by the track point is determined as the display information of the first track point, and finally the track display information of the first road track on the electronic map can be obtained.
  • the trajectory display effect after the first road trajectory is bound is shown in FIG. 4 . It can be seen from FIG. 4 that the first road trajectory is bound to the road, and the first road trajectory 401 matches the road network 402 .
  • the problem of track offset between the actual road and the electronic map can be solved, and the vehicle driving track can be improved. match with the actual road network.
  • Step 103 based on the road structure of the first road trajectory, split the first road trajectory into N trajectory sections, each trajectory section includes M consecutive first trajectory points, and each trajectory section has a unique
  • the path direction is the path direction from the first first track point to the last first track point in the track section.
  • N is a positive integer
  • M is an integer greater than 1.
  • the road structure of the first road trajectory refers to road intersections included in the first road trajectory, and the road intersections may include intersections and/or turning intersections.
  • the first road trajectory can be segmented and split.
  • the split principle can be divided into intersection points and turning points, and try to make each line segment a straight line or in the same direction.
  • the same direction means that even if the halfway The path has many bends, but the overall direction (which can refer to the direction of the path from the first first track point to the last first track point) is consistent.
  • the first first track point may refer to the starting point of the track road segment
  • the last first track point may refer to the end point of the track road segment.
  • Intersection splitting refers to: the intersection point of two trajectory lines intersecting at the intersection on the first road trajectory is the starting point or end point of the trajectory segment, and the first trajectory point can be shared by the two trajectory segments.
  • Turning point splitting refers to: selecting a first track point with the largest turning angle on the turning route on the first road track as a turning point to split the road segment.
  • Each track segment after splitting is a unique path, and all its first track points are continuous and can be composed of starting point, end point, intermediate point and other points.
  • This track segment has the uniqueness of direction, the starting point and The straight line at the end point is the general direction of the track segment.
  • each track segment is connected, unless a certain track segment is a dead end (it only has a start point or an end point). According to the direction, starting point and end point of the track road segment, the relationship and connection mode between different track road segments can be determined.
  • the process of this step can be called the structuring process of the first road trajectory.
  • Road trajectory structuring refers to logically processing the road trajectory and adding logical association information of each trajectory section.
  • the first road track can be split to obtain N track sections, and the structured information of the N track sections can be stored.
  • Fig. 5 is a split schematic diagram of the first road track, as shown in Fig. 5, each track section can include a start point, an end point and an intermediate point, and each track section can have the uniqueness of direction, the start point and the end point
  • the direct line of is the general direction of the track segment.
  • the schematic diagram of the structured elements of each trajectory segment is shown in FIG. 6 , which includes a starting point, an end point, an intermediate point, a path direction, a set of first trajectory points of the trajectory segment, and the total length of the trajectory segment.
  • the structured information of the first road trajectory in FIG. 5 is shown in Table 2.
  • the unit of the total length of the track section is m.
  • Step 104 correcting the vehicle trajectory on the electronic map based on the N trajectory sections and the trajectory display information.
  • the correction of the vehicle trajectory can be based on the fusion of three elements, known vehicle operating roads, real-time vehicle location information and electronic maps.
  • known vehicle operating roads and electronic maps are two relatively stable elements, while real-time vehicle location information is a dynamic and error-prone element, and the differential treatment of stable elements and unstable elements is the key.
  • the first road trajectory and the electronic map can be solidified, that is, the two relatively stable elements of the road and the electronic map can be solidified, so that the trajectory of the actual road and the electronic map can be resolved. offset problem.
  • the first road trajectory includes a plurality of first trajectory points; obtaining the trajectory display information of the first road trajectory on the electronic map, and the trajectory display information includes the The location information of a plurality of first track points matching the road on the electronic map; based on the road structure of the first road track, splitting the first road track into N track sections, each track section comprising M consecutive first track points, and each track section has a unique path direction, which is the path direction from the first first track point to the last first track point in the track section; based on the N Track road sections and the track display information are used to correct the vehicle track on the electronic map.
  • the real-time vehicle trajectory correction can be performed directly based on the split N trajectory sections, so that its applicable scenarios are not limited.
  • the step 101 specifically includes:
  • the second road trajectory including a plurality of second trajectory points
  • the plurality of second trajectory points are corrected to obtain the first road trajectory, and the adjacent ones of the first road trajectory
  • the distance between the first trajectory points is greater than a first preset threshold and smaller than a second preset threshold.
  • the second road trajectory can be a road trajectory formed by directly collected trajectory points, or can be a road trajectory obtained after denoising processing of directly collected trajectory points.
  • the following second road trajectory is based on directly collected trajectory points
  • the road trajectory obtained after denoising processing is illustrated.
  • a trajectory collection vehicle may be used to collect trajectory points of known vehicle operating roads, and noise points may be removed from the collected trajectory points.
  • the preset threshold can be adjusted according to the track point collection accuracy and/or the track point interval.
  • a plurality of second trajectory points may be included.
  • the entire track of the second road track can be checked and corrected based on the distance between two adjacent second track points among the multiple second track points and the road feature information of the second road track, and the corrected
  • the principle is that the distance between every two adjacent second trajectory points is between the first preset threshold and the second preset threshold.
  • the first preset threshold and the second preset threshold can be set according to the actual situation.
  • the first preset threshold can be set to 2m
  • the second preset threshold can be set to 5m, that is, two adjacent The distance between the two track points is between 2m-5m.
  • the first preset threshold and the second preset threshold can be appropriately increased, and the relative value higher than the second preset threshold Complementary points can be performed between two adjacent second trajectory points. If applied to a high-precision map scenario, the first preset threshold and the second preset threshold can also be increased, for example, the distance between two adjacent second track points can be less than 1m.
  • the second road trajectory includes a plurality of second trajectory points; based on the distance between two adjacent second trajectory points among the plurality of second trajectory points, the A plurality of second track points are corrected to obtain the first road track, and the distance between adjacent first track points in the first road track is greater than a first preset threshold and smaller than a second preset threshold. In this way, the logical continuity, standardization and integrity of the road trajectory can be improved.
  • the correction of the plurality of second trajectory points based on the distance between two adjacent second trajectory points in the plurality of second trajectory points to obtain the first road trajectory includes:
  • the preset rules include at least one of the following:
  • a supplementary point is performed between the two adjacent second trajectory points.
  • the correction may include deleting track points and supplementary points, and the plurality of second track points may be corrected according to preset rules.
  • the preset rules can include:
  • Delete the second track point whose track point density is too high for example, the track point density is too high caused by the track acquisition vehicle repeatedly driving the same route, or the track point density caused by the track acquisition vehicle parking or slowing down.
  • the distance between two adjacent second track points may be judged, and when the distance between two adjacent second track points is less than or equal to the first preset threshold, the two adjacent second track points are deleted. Any second trajectory point in the second trajectory point.
  • the coordinates of the supplementary point conform to the entire track point Established coordinate latitude and longitude system and accuracy requirements.
  • Line supplementary point refers to supplementary points on the straight line formed by the original track points at both ends according to equal divisions
  • Curve supplementary point refers to the smooth drawing according to the curve of the road track, and the supplementary point is equally divided on the drawn curve;
  • Irregular supplementary points refer to manual supplementary points according to the actual road trajectory.
  • the step 104 specifically includes:
  • the target trajectory section being the trajectory section with the shortest projected distance from the location information among the N trajectory sections;
  • the location information of the vehicle may be the real-time location information of the vehicle, that is, the location information reported by the vehicle in real time.
  • the vehicle trajectory can be corrected statically based on the position information of the vehicle, and can also be dynamically corrected based on the position information of the vehicle. Specifically, the static deviation correction or the dynamic deviation correction can be selected according to the actual situation.
  • the real-time location information can be uploaded at the initial startup of the vehicle, or the trajectory data uploaded before the vehicle is running is abnormal. information to judge.
  • Traversal calculates the distance between the position information and the projected vertical position of the straight line formed by the starting point and the end point of N track road sections, that is, the projection distance, and the track road section corresponding to the minimum distance is the target track road section, as shown in Figures 7 and 8;
  • the track point where the projected vertical position matches in the target track section is the track point after the current static deviation correction of the vehicle.
  • the track point matching the projected vertical position in the target track segment may be the track point with the closest distance to the projected vertical position among the track points of the target track segment.
  • the processing method for the non-linear trajectory section can be as follows: the trajectory section can be split into multiple sub-track sections according to the straight line, and the multiple sub-track sections are all straight lines, and the multiple sub-track sections are used instead of the trajectory Calculate the projected distance based on the location information of the road section and the vehicle. After determining that the minimum distance corresponds to the sub-track road segment in the track road segment, the target track point closest to the real-time position of the vehicle in the sub-trajectory road segment is calculated by traversal or dichotomy.
  • the distance between the real-time position of the vehicle and the target track point obtained by the correction calculation is greater than the vehicle positioning error range, it can be judged that the vehicle is not on the first road track, and the N track sections are not used to correct the vehicle track.
  • the vehicle positioning error range is 10m
  • the distance between the real-time position of the vehicle and the target trajectory point obtained by the deviation correction calculation is 1 kilometer, then it can be judged that the vehicle is not on the first road trajectory, and the N trajectory sections are not used to correct the vehicle. The trajectory is corrected.
  • first display information corresponding to the target track point may be obtained from the track display information; and based on the first display information, the target track point is displayed on the electronic map.
  • the vehicle trajectory can be corrected using the dynamic correction method, which refers to the method of correcting the deviation according to the real-time driving direction and speed of the vehicle by using the deviation correction results obtained before.
  • the trajectory tracking judgment can be made. Specifically, if the vehicle's driving distance is still within the track section according to the speed and interval time, then the projected vertical position can be used to judge the vehicle after correction. target track point.
  • the possible track road segment of the vehicle in the N track road segments is determined through the connection relationship between the track road segments. Judging the projected vertical position in the possible track section, determining the target track section in the possible track section, and determining the target track point after the vehicle's deviation is corrected in the target track section.
  • the static correction method can be used to correct the vehicle trajectory again, or the real-time position of the vehicle can be judged based on the continuous multiple position information reported by the vehicle and the target trajectory obtained by the correction calculation.
  • the static deviation correction method is used to correct the vehicle trajectory again.
  • the vehicle position is usually matched with the track point on the track section. After the matching is successful, the track point on the track section is used instead of the position reported by the vehicle for display. Since the track point has been bound with the electronic map Therefore, the position where the vehicle is displayed has already completed the deviation correction operation, so that a better display effect can be obtained.
  • the method before displaying the target track point on the electronic map based on the first display information, the method further includes:
  • the set of display points of the N track sections Acquiring the set of display points of the N track sections, the set of display points including K first track points used for display in each track section of the N track sections, K is a positive integer less than or equal to M;
  • each first track point in the display point set is displayed on the electronic map.
  • the track points have two purposes when displayed on the electronic map, one is to mark the position, and the other is to display the track. Not all track points have position display value, and not all track points have Contains the same track display weights. Therefore, the track points with position display and track display value can be screened out from the plurality of first track points as a set of display points, and the data volume of the set of display points is larger than the track point set in the first road track. The reduction makes the display efficiency of the first road trajectory significantly improved while not losing key information display when displaying the first road track on the electronic map, achieving a good balance between display efficiency and effect.
  • the track points located at the starting point, the end point and the middle point in all the track sections may be reserved, and the information points in all the track sections and the track points 10 meters before and after the information point may be kept.
  • thinning methods for thinning the track points in the N track sections, which can be selected in combination with specific route characteristics. For example, judge whether the trajectory point is included in the display point set by the angle formed between three consecutive trajectory points. When the angle is greater than a certain threshold, it will be retained. When the angle is continuously smaller than a certain threshold, but the length of the line segment is accumulated. When it is greater than 20 meters, a track point is reserved and included in the display point set. Wherein, the threshold can be adjusted according to line characteristics.
  • All the remaining track points are included in the display point set, and the display point set is used as the display of the first road track when displayed on the electronic map.
  • the track points in the display point set are used to display the first road track in conjunction with the electronic map, and the track points in the first road track All track points are used for logical judgment in conjunction with the real-time position of the vehicle.
  • the target trajectory point corresponding to the corrected vehicle position with the display point set it is only necessary to use the target trajectory point corresponding to the corrected vehicle position with the display point set to achieve a good display effect and efficiency. In this way, the efficiency and effect of vehicle trajectory tracking and display can be optimally balanced.
  • Fig. 9 is a flow diagram of a specific example of the vehicle trajectory correction method provided by the embodiment of the present application.
  • the trajectory acquisition vehicle performs road trajectory acquisition, and the collected road trajectory is bound to the road, that is, the road
  • the track and the electronic map are solidified, and the road track is denoised and cleaned, that is, the road track is structured and logical, and the road track is thinned out, that is, the track points are grouped to obtain a set of display points, and then the vehicle track is corrected.
  • the vehicle track is corrected based on the structured information of the real-time position of the vehicle and the road track.
  • the real-time position of the vehicle can be the position information reported by the monitored vehicle in real time.
  • the corrected target track point and The track points in the display point set are displayed on the electronic map.
  • all the pre-calculations of stable elements can be pre-calculated, and the discrete algorithm can be transformed into a logical algorithm, which can greatly improve the efficiency from algorithm calculation to display, so that the real-time calculation pressure is small and the efficiency is high, so that it can support Larger number of vehicle monitoring scale.
  • the loosely coupled separation of display logic and positioning logic is realized to achieve the best display effect.
  • the vehicle trajectory correction device provided by the embodiment of the present application will be described below.
  • the vehicle trajectory correction device 1000 includes:
  • the first obtaining module 1001 is configured to obtain a first road trajectory, and the first road trajectory includes a plurality of first trajectory points;
  • the second obtaining module 1002 is configured to obtain the track display information of the first road track on the electronic map, the track display information includes the position information of the plurality of first track points matching the road on the electronic map ;
  • the splitting module 1003 is configured to split the first road track into N track sections based on the road structure of the first road track, each track section includes M consecutive first track points, and each The track section has a unique path direction, which is the path direction from the first first track point to the last first track point in the track section, N is a positive integer, and M is an integer greater than 1;
  • the vehicle trajectory correction module 1004 is configured to correct the vehicle trajectory on the electronic map based on the N trajectory sections and the trajectory display information.
  • the first acquisition module 1001 includes:
  • a first acquiring unit configured to acquire a second road trajectory, the second road trajectory including a plurality of second trajectory points
  • the correction unit is configured to correct the plurality of second trajectory points based on the distance between two adjacent second trajectory points in the plurality of second trajectory points, so as to obtain the first road trajectory, the first The distance between adjacent first track points in the road track is greater than a first preset threshold and smaller than a second preset threshold.
  • the correction unit is configured to correct the plurality of second trajectory points according to preset rules based on the distance between two adjacent second trajectory points among the plurality of second trajectory points, to obtain the Describe the first road track;
  • the preset rules include at least one of the following:
  • a supplementary point is performed between the two adjacent second trajectory points.
  • the vehicle trajectory correction module 1004 includes:
  • a second acquisition unit configured to acquire location information of the vehicle
  • the first determination unit is configured to determine a target trajectory segment from the N trajectory segments, the target trajectory segment being the trajectory segment with the shortest projected distance from the location information among the N trajectory segments;
  • a second determining unit configured to determine a target track point corresponding to the position information in the target track segment
  • the third obtaining unit is configured to obtain the first display information corresponding to the target track point from the track display information
  • the vehicle position display unit is configured to display the target track point on the electronic map based on the first display information.
  • the device also includes:
  • the third acquisition module is configured to acquire the set of display points of the N track sections, the set of display points includes K first track points used for display by each track section in the N track sections, and K is less than or a positive integer equal to M;
  • the fourth obtaining module is configured to obtain the second display information of each first track point of the display point set from the track display information
  • the route track display module is configured to display each first track point in the display point set on the electronic map based on the second display information.
  • the vehicle track deviation correction device 1000 can realize each process realized in the above-mentioned vehicle track deviation correction method embodiment, and can achieve the same technical effect, in order to avoid repetition, it will not be repeated here.
  • an electronic device 1100 includes: a processor 1101 , a memory 1102 , a user interface 1103 and a bus interface 1104 .
  • the processor 1101 is configured to read the program in the memory 1102, and execute the following processes:
  • the first road trajectory including a plurality of first trajectory points
  • the track display information of the first road track on the electronic map including the position information of the plurality of first track points matching the road on the electronic map;
  • the first road trajectory is split into N trajectory sections, each trajectory section includes M consecutive first trajectory points, and each trajectory section has a unique path direction , the path direction is the path direction from the first first track point to the last first track point in the track section, N is a positive integer, and M is an integer greater than 1;
  • the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 1101 and various circuits of memory represented by memory 1102 are linked together.
  • the bus architecture can also link together various other circuits such as peripherals, voltage regulators, and power management circuits, etc., which are well known in the art and therefore will not be further described herein.
  • Bus interface 1104 provides the interface.
  • the user interface 1103 may also be an interface capable of connecting externally and internally to required equipment, and the connected equipment includes but not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like.
  • the processor 1101 is responsible for managing the bus architecture and general processing, and the memory 1102 can store data used by the processor 1101 when performing operations.
  • processor 1101 is further configured to:
  • the second road trajectory including a plurality of second trajectory points
  • the plurality of second trajectory points are corrected to obtain the first road trajectory, and the adjacent ones of the first road trajectory
  • the distance between the first trajectory points is greater than a first preset threshold and smaller than a second preset threshold.
  • processor 1101 is further configured to:
  • the preset rules include at least one of the following:
  • a supplementary point is performed between the two adjacent second trajectory points.
  • processor 1101 is further configured to:
  • the target trajectory section being the trajectory section with the shortest projected distance from the location information among the N trajectory sections;
  • processor 1101 is further configured to:
  • the set of display points of the N track sections Acquiring the set of display points of the N track sections, the set of display points including K first track points used for display in each track section of the N track sections, K is a positive integer less than or equal to M;
  • each first track point in the display point set is displayed on the electronic map.
  • the embodiment of the present application also provides an electronic device, including a processor 1101, a memory 1102, and a computer program stored in the memory 1102 and operable on the processor 1101.
  • a computer program stored in the memory 1102 and operable on the processor 1101.
  • the computer program is executed by the processor 1101.
  • the embodiment of the present application also provides a computer-readable storage medium.
  • a computer program is stored on the computer-readable storage medium.
  • the computer-readable storage medium is, for example, a read-only memory (Read-Only Memory, ROM for short), a random access memory (Random Access Memory, RAM for short), a magnetic disk or an optical disk, and the like.
  • the disclosed system and method can be implemented in other ways.
  • the system embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present application.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the functions described above are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: various media capable of storing program codes such as U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk.

Abstract

一种车辆轨迹纠偏方法、装置（1000）及电子设备。方法包括：获取第一道路轨迹（301,401），第一道路轨迹（301,401）包括多个第一轨迹点（101）；获取第一道路轨迹（301,401）在电子地图上的轨迹展示信息，轨迹展示信息包括多个第一轨迹点与电子地图上的道路匹配的位置信息（102）；基于第一道路轨迹（301,401）的道路结构，将第一道路轨迹（301,401）拆分为N条轨迹路段，每条轨迹路段包括连续的M个第一轨迹点，且每条轨迹路段具有唯一的路径方向，路径方向为轨迹路段中第一个第一轨迹点到最后一个第一轨迹点的路径方向（103）；基于N条轨迹路段和轨迹展示信息在电子地图上对车辆轨迹进行纠偏（104）。可以使得车辆轨迹纠偏方式适用场景不受限。

Description

车辆轨迹纠偏方法、装置及电子设备
相关申请的交叉引用
本申请基于申请号为202110719336.3、申请日为2021年06月28日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本发明实施例涉及车联网技术领域，尤其涉及一种车辆轨迹纠偏方法、装置及电子设备。
背景技术
随着物联网的快速发展，车联网技术的应用越来越广泛。车联网技术中，可以对车辆位置进行实时监测，并将监测的车辆位置在电子地图上进行展示。为了提高车辆轨迹在电子地图上的展示效果，通常需要基于车辆位置对车辆的轨迹进行纠偏。
目前，车辆轨迹纠偏方式通常是结合车辆的历史轨迹进行轨迹纠偏，该轨迹纠偏方式场景束缚较大，适用性受限。
发明内容
本申请实施例提供一种车辆轨迹纠偏方法、装置及电子设备，以解决现有技术中轨迹纠偏方式场景束缚较大，适用性受限的问题。
第一方面，本申请实施例提供一种车辆轨迹纠偏方法，所述方法包括：
获取第一道路轨迹，所述第一道路轨迹包括多个第一轨迹点；
获取所述第一道路轨迹在电子地图上的轨迹展示信息，所述轨迹展示信息包括所述多个第一轨迹点与所述电子地图上的道路匹配的位置信息；
基于所述第一道路轨迹的道路结构，将所述第一道路轨迹拆分为N条轨迹 路段，每条轨迹路段包括连续的M个第一轨迹点，且每条轨迹路段具有唯一的路径方向，所述路径方向为轨迹路段中第一个第一轨迹点到最后一个第一轨迹点的路径方向，N为正整数，M为大于1的整数；
基于所述N条轨迹路段和所述轨迹展示信息在所述电子地图上对车辆轨迹进行纠偏。
第二方面，本申请实施例提供一种车辆轨迹纠偏装置，所述装置包括：
第一获取模块，配置为获取第一道路轨迹，所述第一道路轨迹包括多个第一轨迹点；
第二获取模块，配置为获取所述第一道路轨迹在电子地图上的轨迹展示信息，所述轨迹展示信息包括所述多个第一轨迹点与所述电子地图上的道路匹配的位置信息；
拆分模块，配置为基于所述第一道路轨迹的道路结构，将所述第一道路轨迹拆分为N条轨迹路段，每条轨迹路段包括连续的M个第一轨迹点，且每条轨迹路段具有唯一的路径方向，所述路径方向为轨迹路段中第一个第一轨迹点到最后一个第一轨迹点的路径方向，N为正整数，M为大于1的整数；
车辆轨迹纠偏模块，配置为基于所述N条轨迹路段和所述轨迹展示信息在所述电子地图上对车辆轨迹进行纠偏。
第三方面，本申请实施例提供一种电子设备，包括处理器，存储器，存储在所述存储器上并可在所述处理器上运行的计算机程序，所述计算机程序被所述处理器执行时实现上述车辆轨迹纠偏方法的步骤。
第四方面，本申请实施例提供一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现上述车辆轨迹纠偏方法的步骤。
本申请实施例中，通过获取第一道路轨迹，所述第一道路轨迹包括多个第一轨迹点；获取所述第一道路轨迹在电子地图上的轨迹展示信息，所述轨迹展示信息包括所述多个第一轨迹点与所述电子地图上的道路匹配的位置信息；基于所述第一道路轨迹的道路结构，将所述第一道路轨迹拆分为N条轨迹路段， 每条轨迹路段包括连续的M个第一轨迹点，且每条轨迹路段具有唯一的路径方向，所述路径方向为轨迹路段中第一个第一轨迹点到最后一个第一轨迹点的路径方向；基于所述N条轨迹路段和所述轨迹展示信息在所述电子地图上对车辆轨迹进行纠偏。如此，通过对第一道路轨迹进行结构化，将其拆分为N条轨迹路段，后续可以直接基于拆分的N条轨迹路段进行车辆实时轨迹纠偏，从而使得其适用场景不受限。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获取其他的附图。
图1是本申请实施例提供的车辆轨迹纠偏方法的流程示意图；
图2是轨迹采集车辆采集的道路轨迹示意图；
图3是未绑路的第一道路轨迹的展示示意图；
图4是已绑路的第一道路轨迹的展示示意图；
图5是第一道路轨迹的拆分示意图；
图6是轨迹路段结构化后的元素示意图；
图7是目标轨迹点的确定示意图之一；
图8是目标轨迹点的确定示意图之二；
图9是本申请实施例提供的车辆轨迹纠偏方法中一具体示例的流程示意图；
图10是本申请实施例提供的车辆轨迹纠偏装置的结构示意图；
图11是本申请实施例提供的电子设备的结构示意图。
具体实施方式
目前，卫星定位技术被广泛应用在各个定位和导航中，然而卫星定位存在 一定的误差。误差的通常来源于两个方面，一个是电子设备的定位芯片性能，抗干扰性好的芯片，定位精度通常会高一点。另一个是环境因素的干扰，包括卫星信号遮挡、信号折射、大气层或电离层干扰，比如，在高大建筑密集或天气情况不好的地方，由于全球定位系统(Global Positioning System，GPS)信号经过多次的折射和反射，造成GPS信号误差，出现漂移。
因此，实际使用中卫星定位数据的轨迹漂移是不可避免的，轨迹纠偏是必须的技术处理流程。相关技术中，车辆轨迹纠偏方式通常是结合车辆的历史轨迹进行轨迹纠偏，比如，应用于营运车辆的历史轨迹纠偏的方案，该方案存在场景束缚较大，适用性受限的问题，基于此，本申请实施例提供一种新的车辆轨迹纠偏方案。
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获取的所有其他实施例，都属于本申请保护的范围。
下面首先对本申请实施例提供的车辆轨迹纠偏方法进行说明。
需要说明的是，本申请实施例提供的车辆轨迹纠偏方法涉及车联网技术领域，其可以广泛应用于地图导航、位置决策和测距等多个场景中。该方法可以由本申请实施例的车辆轨迹纠偏装置执行。而车辆轨迹纠偏装置可以配置在任意电子设备中，以执行车辆轨迹纠偏方法，该电子设备可以服务器，也可以为终端比如车载终端设备，这里不做具体限定。
参见图1，图中示出了本申请实施例提供的车辆轨迹纠偏方法的流程示意图。如图1所示，该方法可以包括如下步骤：
步骤101，获取第一道路轨迹，所述第一道路轨迹包括多个第一轨迹点。
这里，第一道路轨迹可以为采集的预设道路的轨迹，该预设道路可以为已经标记在电子地图上的道路轨迹，如某某市的路网，也可以为未标记在电子地图上的道路轨迹，如比较偏僻的某个区域中的道路。
在实际应用中，该方案可以应用于已知车辆运营道路下的场景，这些已知 车辆运营道路的轨迹数据可以预先处理，比如，园区内的运营车辆、市政公交车辆、市政清扫车辆和高速救援车辆等。也就是说，可以基于已知车辆运营道路预先采集其道路轨迹，以得到第一道路轨迹。
所述第一道路轨迹可以包括多个第一轨迹点，该多个第一轨迹点可以仅包括直接采集的轨迹点，也可以同时包括直接采集的轨迹点和基于采集的轨迹点进行轨迹修正的轨迹点，这里不进行具体限定。
所述第一道路轨迹的获取方式包括多种，比如，通过定位装置直接采集已知车辆运营道路的轨迹点，得到第一道路轨迹，也可以在采集已知车辆运营道路的轨迹点的基础上，再对采集的轨迹点进行去噪和修正处理，得到第一道路轨迹，还可以获取其他电子设备发送的第一道路轨迹，亦或是通过其他电子设备如第三方图商间接获得轨迹点，并基于获得的轨迹点生成第一道路轨迹。
在一可选实施方式中，可以采用轨迹采集车辆采集已知车辆运营道路的轨迹点，采集后获得连续的轨迹点的轨迹位置信息，该轨迹位置信息可以包括经纬度，为了保证第一道路轨迹的精度，经纬度精度可以达到小数点后7位及以上，且每相邻的两个轨迹点之间的距离可以在2米左右，另外，该轨迹位置信息还可以包括两个轨迹点之间的仰角。
参见图2，图2是轨迹采集车辆采集的道路轨迹示意图，如图2所示，轨迹采集车辆在已知车辆运营道路201上采集的连续多个轨迹点202可以构成一条道路轨迹，而采集的连续多个轨迹点中部分轨迹点的轨迹位置信息如表1所示。
表1采集的连续多个轨迹点中部分轨迹点的轨迹位置信息表
纬度 经度 仰角
39.60361003 109.7779231 165.21
39.60360257 109.7779261 162.93
39.60359505 109.7779294 160.75
所述第一道路轨迹可以为采集的连续多个轨迹点直接构成的道路轨迹，也可以为对采集的连续多个轨迹点进行去噪和修正处理后构成的道路轨迹。相应 的，可以获取轨迹采集车辆采集轨迹点后得到的第一道路轨迹，在一可选实施方式中，可以接收轨迹采集车辆发送的所述第一道路轨迹。
步骤102，获取所述第一道路轨迹在电子地图上的轨迹展示信息，所述轨迹展示信息包括所述多个第一轨迹点与所述电子地图上的道路匹配的位置信息。
这里，由于轨迹采集车辆的位置采集精度通常比较高，因此，轨迹采集车辆采集的第一道路轨迹应该与电子地图上路网匹配。然而，实际情况上，由于轨迹采集车辆精度、采集环境以及电子地图精度等问题都会引起该第一道路轨迹与路网不匹配，形成一定的轨迹漂移。如图3所示，第一道路轨迹301与路网302不匹配，存在一定的轨迹漂移。
可以将第一道路轨迹与电子地图上道路进行匹配，确保第一道路轨迹的展示与电子地图上道路匹配，即使得第一道路轨迹与电子地图上展示的路网实现重合，以确保后续在第一道路轨迹上展示的车辆实时位置信息与电子地图上的道路匹配，该过程可以称之为绑路。
具体的，可以将所述多个第一轨迹点在电子地图上进行比对，将与电子地图存在轨迹偏移的轨迹点按照电子地图的经纬度，来更新第一轨迹点的轨迹展示信息。具体可以将第一轨迹点在电子地图上进行展示，观察第一道路轨迹和电子地图上展示的实际路网的匹配情况，对于存在偏移的轨迹路段，调整第一轨迹点到与实际路网匹配的经纬度，以更新第一轨迹点的轨迹展示信息。
也就是说，由于第一轨迹点实际采集的位置精度和电子地图上的展示精度可能不一致，因此可能会导致第一道路轨迹存在偏移，在该种情况下，可以将第一轨迹点的实际位置信息和第一轨迹点与所述电子地图上的道路匹配的位置信息即第一轨迹点的展示信息进行关联存储，以得到第一道路轨迹在电子地图上的轨迹展示信息。
其中，将所述多个第一轨迹点在电子地图上进行比对的方式可以为手动或自动将偏移的第一道路轨迹与电子地图上展示的道路进行匹配，基于电子地图上与第一轨迹点匹配的点的位置信息确定为该第一轨迹点的展示信息，最终可 以获得所述第一道路轨迹在电子地图上的轨迹展示信息。此时，第一道路轨迹绑路后的轨迹展示效果如图4所示，从图4可以看出，第一道路轨迹与道路进行了绑定，第一道路轨迹401与路网402匹配。
这样，通过将第一道路轨迹与电子地图进行固化处理，即将道路和电子地图这两个相对稳定的元素进行固化处理，从而可以解决实际道路与电子地图展示的轨迹偏移问题，完善车辆行驶轨迹和实际路网的匹配。
步骤103，基于所述第一道路轨迹的道路结构，将所述第一道路轨迹拆分为N条轨迹路段，每条轨迹路段包括连续的M个第一轨迹点，且每条轨迹路段具有唯一的路径方向，所述路径方向为轨迹路段中第一个第一轨迹点到最后一个第一轨迹点的路径方向。
其中，N为正整数，M为大于1的整数。
这里，第一道路轨迹的道路结构指的是第一道路轨迹包括的道路路口，该道路路口可以包括十字路口和/或转弯路口。
也就是说，可以对第一道路轨迹进行分段拆分，拆分原则可以为交叉点拆分和转弯点拆分，且尽量让每一个线段是直线或者方向一致，方向一致指的是即使中途路径有很多弯道，但整体方向(可以指的是第一个第一轨迹点到最后一个第一轨迹点的路径方向)是一致的。其中，第一个第一轨迹点可以指的是轨迹路段的起点，最后一个第一轨迹点可以指的是轨迹路段的终点。
交叉点拆分指的是：第一道路轨迹上十字路口相交的两条轨迹线的交叉点即是轨迹路段的起点或者终点，两条轨迹路段可以共用这个第一轨迹点。
转弯点拆分指的是：第一道路轨迹上转弯线路上选取一个转弯夹角最大的第一轨迹点作为转弯点进行路段拆分。
拆分后的每条轨迹路段都是一条唯一路径，其所有的第一轨迹点都是连续的，可以由起点、终点、中间点和其他点组成，该轨迹路段具有方向的唯一性，起点和终点的直连线是该条轨迹路段的大致方向。
每一个轨迹路段的起点和终点是相连的，除非某条轨迹路段为断头路(其只有起点或者终点)。根据轨迹路段的方向、起点和终点，可以确定不同轨迹路 段之间的相互关系和连接方式。
该步骤的过程可以称之为第一道路轨迹的结构化过程，道路轨迹结构化指的是将道路轨迹进行逻辑化处理，并增加每条轨迹路段的逻辑关联信息。具体可以将第一道路轨迹进行拆分，得到N条轨迹路段，并将N条轨迹路段的结构化信息进行存储。
参见图5，图5是第一道路轨迹的拆分示意图，如图5所示，每条轨迹路段可以包括起点、终点和中间点，且每条轨迹路段可以具有方向的唯一性，起点和终点的直连线是该条轨迹路段的大致方向。每条轨迹路段结构化后的元素示意图如图6所示，其包括起点、终点、中间点、路径方向、轨迹路段的第一轨迹点集合和轨迹路段的全长。另外，图5中的第一道路轨迹结构化后的结构化信息如表2所示。
表2第一道路轨迹结构化后的结构化信息表
轨迹路段编号 轨迹路段起点 轨迹路段终点 轨迹路段中间点 轨迹路段全长
A 2 1 中间点A 20
B 4 2 中间点B 10
C 5 2 中间点C 10
D 2 3 中间点D 10
E 1 7 中间点E 10
F 7 8 中间点F 10
G 8 9 中间点G 10
H 9 4 中间点H 10
I 3 6 中间点I 10
J 6 5 中间点J 10
其中，上表2中，轨迹路段全长的单位为m。
步骤104，基于所述N条轨迹路段和所述轨迹展示信息在所述电子地图上对车辆轨迹进行纠偏。
该步骤中，对车辆轨迹进行纠偏可以基于三个元素的融合，已知车辆运营 道路、车辆实时位置信息和电子地图。其中，已知车辆运营道路和电子地图是两个相对稳定的元素，而车辆实时位置信息是一个动态且有误差的元素，稳定元素和非稳定元素的差异化处理是关键。
具体的，在车辆轨迹纠偏之前，可以通过将第一道路轨迹与电子地图进行固化处理，即将道路和电子地图这两个相对稳定的元素进行固化处理，从而可以解决实际道路与电子地图展示的轨迹偏移问题。
在解决实际道路与电子地图展示的轨迹偏移问题的前提下，基于所述N条轨迹路段进行车辆位置的纠偏，以确定车辆在已知车辆运营道路上的实际位置，实现车辆的实时定位位置与车辆实际位置的纠偏，提高车辆位置的纠偏效果。之后，基于车辆的实际位置从轨迹展示信息中获取相应的展示信息并展示，实现车辆实际位置在电子地图的展示位置的纠偏，从而可以实现在电子地图上对车辆轨迹进行纠偏，避免车辆位置在电子地图上出现漂移，提高车辆轨迹在电子地图的展示效果。
本实施例中，通过获取第一道路轨迹，所述第一道路轨迹包括多个第一轨迹点；获取所述第一道路轨迹在电子地图上的轨迹展示信息，所述轨迹展示信息包括所述多个第一轨迹点与所述电子地图上的道路匹配的位置信息；基于所述第一道路轨迹的道路结构，将所述第一道路轨迹拆分为N条轨迹路段，每条轨迹路段包括连续的M个第一轨迹点，且每条轨迹路段具有唯一的路径方向，所述路径方向为轨迹路段中第一个第一轨迹点到最后一个第一轨迹点的路径方向；基于所述N条轨迹路段和所述轨迹展示信息在所述电子地图上对车辆轨迹进行纠偏。如此，通过对第一道路轨迹进行结构化，将其拆分为N条轨迹路段，后续可以直接基于拆分的N条轨迹路段进行车辆实时轨迹纠偏，从而使得其适用场景不受限。
可选的，所述步骤101具体包括：
获取第二道路轨迹，所述第二道路轨迹包括多个第二轨迹点；
基于所述多个第二轨迹点中相邻两个第二轨迹点的距离，对所述多个第二轨迹点进行修正，得到所述第一道路轨迹，所述第一道路轨迹中相邻第一轨迹 点之间的距离大于第一预设阈值，且小于第二预设阈值。
本实施方式中，第二道路轨迹可以为直接采集的轨迹点构成的道路轨迹，也可以为直接采集的轨迹点经过去噪处理后得到的道路轨迹，以下第二道路轨迹以直接采集的轨迹点经过去噪处理后得到的道路轨迹进行说明。
具体的，可以采用轨迹采集车辆采集已知车辆运营道路的轨迹点，对采集的轨迹点进行噪点剔除。
设采集的轨迹点间隔为A米(m)，对所有轨迹点中相邻两个轨迹点之间的距离进行计算，对于某一个轨迹点与前后两个相邻轨迹点之间的距离都大于预设阈值的轨迹点进行剔除，即剔除跳点。其中，该预设阈值可以根据轨迹点采集精度和/或轨迹点间隔进行调整。
将初步剔除噪点后的轨迹点在电子地图上进行展示，人工观察道路轨迹的连续性和平稳性，对存在的噪点进行手工删除，剔除噪点后最终可以得到第二道路轨迹，该第二道路轨迹可以包括多个第二轨迹点。
之后，可以基于所述多个第二轨迹点中相邻两个第二轨迹点的距离和所述第二道路轨迹的道路特征信息，对第二道路轨迹的整个轨迹进行检查和修正，修正的原则是每相邻两个第二轨迹点之间的距离在第一预设阈值和第二预设阈值之间。
其中，第一预设阈值和第二预设阈值可以根据实际情况进行设置，通常情况下，第一预设阈值可以设置为2m，第二预设阈值可以设置为5m，即相邻两个第二轨迹点之间的距离在2m-5m之间。
而针对第二道路轨迹的道路特征信息包括的重点路口和信息点区域的第二轨迹点的修正，第一预设阈值和第二预设阈值可以适当提高，高于第二预设阈值的相邻两个第二轨迹点之间可以进行补点。如果应用于高精度地图的场景，第一预设阈值和第二预设阈值也可以提高，如两个相邻的第二轨迹点之间的距离可以小于1m。
本实施方式中，通过获取第二道路轨迹，所述第二道路轨迹包括多个第二轨迹点；基于所述多个第二轨迹点中相邻两个第二轨迹点的距离，对所述多个 第二轨迹点进行修正，得到所述第一道路轨迹，所述第一道路轨迹中相邻第一轨迹点之间的距离大于第一预设阈值，且小于第二预设阈值。如此，可以提高道路轨迹在逻辑上的连续性、规范性和完整性。
可选的，所述基于所述多个第二轨迹点中相邻两个第二轨迹点的距离，对所述多个第二轨迹点进行修正，得到所述第一道路轨迹，包括：
基于所述多个第二轨迹点中相邻两个第二轨迹点的距离，按照预设规则对所述多个第二轨迹点进行修正，得到所述第一道路轨迹；
其中，所述预设规则包括以下至少一项：
在相邻两个第二轨迹点之间的距离小于或等于所述第一预设阈值的情况下，删除所述相邻两个第二轨迹点中任一第二轨迹点；
在相邻两个第二轨迹点之间的距离大于或等于所述第二预设阈值的情况下，在所述相邻两个第二轨迹点之间进行补点；
在相邻两个第二轨迹点未形成与目标路网中的道路对应的闭合线路的情况下，在所述相邻两个第二轨迹点之间进行补点。
本实施方式中，其修正可以包括删除轨迹点和补点，可以按照预设规则对所述多个第二轨迹点进行修正。
该预设规则可以包括：
对轨迹点密度过大的第二轨迹点进行删除，比如，由于轨迹采集车辆重复行驶相同的线路导致的重复采集，或者轨迹采集车辆停车或缓行导致的轨迹点密度过大。可以对相邻两个第二轨迹点之间的距离进行判断，在相邻两个第二轨迹点之间的距离小于或等于所述第一预设阈值的情况下，删除所述相邻两个第二轨迹点中任一第二轨迹点。
对轨迹点密度过低的区域进行补点，比如，轨迹采集车辆采集轨迹点时未形成闭合线路的区域，关键路口和信息点的轨迹点密度过低的区域，补点的坐标符合整个轨迹点建立的坐标经纬度体系和精度要求。
补点的方式包括：
直线补点，指的是在两端原有轨迹点组成的直线上按等分进行补点；
曲线补点，指的是按照道路轨迹的曲线进行平滑绘图，并在该绘制曲线上等分进行补点；
不规则补点，指的是按照实际道路轨迹手工进行补点。
本实施方式中，通过对轨迹点密度过大的第二轨迹点进行删除，对轨迹点密度过低的区域进行补点，如此可以提高道路轨迹在逻辑上的连续性、规范性和完整性。
可选的，所述步骤104具体包括：
获取车辆的位置信息；
从所述N条轨迹路段中确定目标轨迹路段，所述目标轨迹路段为所述N条轨迹路段中与所述位置信息的投影距离最短的轨迹路段；
确定所述目标轨迹路段中所述位置信息对应的目标轨迹点；
从所述轨迹展示信息中获取所述目标轨迹点对应的第一展示信息；
基于所述第一展示信息，在所述电子地图上对所述目标轨迹点进行展示。
本实施方式中，车辆的位置信息可以为车辆的实时位置信息，即车辆实时上报的位置信息。
可以基于车辆的位置信息对车辆轨迹进行静态纠偏，也可以基于车辆的位置信息对车辆轨迹进行动态纠偏，具体是静态纠偏还是动态纠偏可以根据实际情况进行选择。
具体的，可以在车辆初始启动开始上传实时位置信息，或者车辆在行使过程中但是之前上传的轨迹数据异常的，在该种情况下，为了确定车辆所在的轨迹，可以采用静态纠偏方式依据当前位置信息进行判断。
静态纠偏方式的具体步骤为：
获取车辆的实时位置信息；
遍历计算该位置信息与N条轨迹路段的起点和终点组成直线的投影垂直位的距离即投影距离，最小的距离对应的轨迹路段即为目标轨迹路段，如图7和8所示；
相应的，如图7和8所示，所述目标轨迹路段中投影垂直位匹配的轨迹点 即为该车辆当前静态纠偏后的轨迹点。其中，目标轨迹路段中投影垂直位匹配的轨迹点可以为与目标轨迹路段的轨迹点中与投影垂直位距离最近的轨迹点。
在静态纠偏过程中，对于轨迹路段为非直线的处理方式可以为，可以将轨迹路段按照直线拆分成多个子轨迹路段，这多个子轨迹路段均为直线，将这多个子轨迹路段代替该轨迹路段与车辆的位置信息进行投影距离的计算。若确定最小的距离对应该轨迹路段中的子轨迹路段后，再通过遍历或者二分法计算该子轨迹路段中与车辆实时位置最为接近的目标轨迹点。
特殊情形下，最小的距离对应的轨迹路段可能有两个，即车辆实时位置与N条轨迹路段中两条轨迹路段的投影垂直位的距离即投影距离相等，则静态纠偏失败，等待车辆下个上报坐标位再进行静态纠偏，直到静态纠偏成功。
另外，当车辆的实时位置与纠偏计算获得的目标轨迹点的距离大于车辆定位误差范围时，可以判断该车辆不在第一道路轨迹上，不采用所述N条轨迹路段对车辆轨迹进行纠偏。比如，车辆定位误差范围为10m，而车辆的实时位置与纠偏计算获得的目标轨迹点的距离为1公里，则可以判断该车辆不在第一道路轨迹上，不采用所述N条轨迹路段对车辆轨迹进行纠偏。
静态纠偏成功后，可以从所述轨迹展示信息中获取所述目标轨迹点对应的第一展示信息；并基于所述第一展示信息，在所述电子地图上对所述目标轨迹点进行展示。
之后则可以利用动态纠偏方式对车辆轨迹进行纠偏，而动态纠偏方式指的是采用之前已经获得的纠偏结果，根据车辆的实时行驶方向和速度来进行纠偏的方式。
动态纠偏方式的具体步骤为：
获取车辆上一个纠偏后的轨迹点和车辆的位置信息；
根据车辆行驶的方向、速度和轨迹路段之间的连接关系进行轨迹跟踪判断，具体可以为如果按照速度和间隔时间判断，车辆行驶距离仍在该轨迹路段内，则通过投影垂直位判断车辆纠偏后的目标轨迹点。
如果按照速度和间隔时间判断，车辆行驶距离可能已经超出该轨迹路段， 则通过轨迹路段之间的连接关系，确定车辆在所述N条轨迹路段中可能处于的轨迹路段。在可能处于的轨迹路段中进行投影垂直位判断，在可能处于的轨迹路段中确定目标轨迹路段，并确定目标轨迹路段中车辆纠偏后的目标轨迹点。
当车辆的实时位置与纠偏计算获得的目标轨迹点的距离大于车辆定位误差范围时，可以判断该车辆不在第一道路轨迹上，不采用所述N条轨迹路段对车辆轨迹进行纠偏。在该种情况下，可以基于车辆上报的下一个位置信息重新采用静态纠偏方式对车辆轨迹进行纠偏，或者在基于车辆上报的连续多个位置信息均判断车辆的实时位置与纠偏计算获得的目标轨迹点的距离大于车辆定位误差范围时，重新采用静态纠偏方式对车辆轨迹进行纠偏。
本实施方式中，通常将车辆位置与轨迹路段上的轨迹点进行匹配，匹配成功后，就用轨迹路段上的轨迹点代替车辆上报的位置进行展示，由于该轨迹点已经与电子地图进行了绑路操作，因此，车辆展示的位置即已经完成纠偏操作，从而可以获得比较好的展示效果。
可选的，所述基于所述第一展示信息在所述电子地图上对所述目标轨迹点进行展示之前，所述方法还包括：
获取所述N条轨迹路段的展示点集合，所述展示点集合包括所述N条轨迹路段中每条轨迹路段用于展示的K个第一轨迹点，K为小于或等于M的正整数；
从所述轨迹展示信息中获取所述展示点集合的每个第一轨迹点的第二展示信息；
基于所述第二展示信息，在所述电子地图上对所述展示点集合中的每个第一轨迹点进行展示。
本实施方式中，轨迹点在电子地图上展示时有两个用途，一个是位置的标记，另一个是轨迹的展示，并不是所有的轨迹点都有位置展示价值，也不是所有的轨迹点都包含相同的轨迹展示权重。因此，可以从所述多个第一轨迹点中将有位置展示和轨迹展示价值的轨迹点筛选出来作为展示点集合，该展示点集合比第一道路轨迹中的轨迹点集合的数据量大为减少，使得第一道路轨迹在电子地图展示时，在不丢失关键信息展示的同时显著提升展示效率，达到很好的 展示效率和效果的平衡。
具体的，可以保留所有轨迹路段中位于起点、终点和中间点的轨迹点，保留所有轨迹路段中的信息点以及信息点前后10米的轨迹点。
对所述N条轨迹路段中的轨迹点进行抽稀，抽稀的方式有很多，可以结合具体线路特点进行选择。比如，通过连续的三个轨迹点之间形成的夹角判断该轨迹点是否纳入展示点集合，当夹角大于某个阈值时则保留，当夹角持续小于某个阈值时，但是线段长度累积大于20米时则保留一个轨迹点纳入展示点集合。其中，该阈值可以根据线路特点进行调整。
将所有保留下来的轨迹点纳入展示点集合，在电子地图上展示时使用该展示点集合作为第一道路轨迹的展示。
本实施方式中，通过将车辆位置逻辑判断的轨迹点和轨迹展示的轨迹点进行分组后，展示点集合中的轨迹点用来配合电子地图对第一道路轨迹进行展示，第一道路轨迹中的所有轨迹点用来配合车辆实时位置进行逻辑判断使用。当展示车辆的实时位置和轨迹时，只需要将纠偏后的车辆位置对应的目标轨迹点与展示点集合进行搭配使用，就可以达到良好的展示效果和效率。如此，可以使得车辆轨迹跟踪和展示的效率和效果达到最佳平衡。
参见图9，图9是本申请实施例提供的车辆轨迹纠偏方法中一具体示例的流程示意图，如图9所示，轨迹采集车辆进行道路轨迹采集，将采集的道路轨迹进行绑路，即将道路轨迹与电子地图固化，对道路轨迹进行降噪和清洗，即将道路轨迹进行结构化和逻辑化，对道路轨迹进行抽稀，即将轨迹点进行分组，得到展示点集合，之后对车辆轨迹进行纠偏，具体基于车辆实时位置和道路轨迹的结构化信息对车辆轨迹进行纠偏，其中，车辆实时位置可以为被监测车辆实时上报的位置信息，最后，基于轨迹点的展示信息将纠偏后的目标轨迹点和展示点集合中的轨迹点在电子地图上进行展示。
需要说明的是，整个流程处理中绑路、降噪、清洗和抽稀等环节均在预处理阶段完成，这样运算压力在前置已完成绝大部分，在车辆实时位置信息上报时基于车辆实时位置对车辆轨迹进行纠偏的压力就可以大大降低。
也就是说，将稳定元素的可前置计算全部前置，将离散的算法转变成逻辑算法，可以实现从算法计算到展示效率的极大提升，使得实时运算压力小，效率高，从而可以支撑更大数量的车辆监测规模。并且，通过展示点和逻辑点预处理，实现展示逻辑和定位逻辑的松耦合分离，达到展示效果的最佳状态。
下面对本申请实施例提供的车辆轨迹纠偏装置进行说明。
参见图10，图中示出了本申请实施例提供的车辆轨迹纠偏装置的结构示意图。如图10所示，车辆轨迹纠偏装置1000包括：
第一获取模块1001，配置为获取第一道路轨迹，所述第一道路轨迹包括多个第一轨迹点；
第二获取模块1002，配置为获取所述第一道路轨迹在电子地图上的轨迹展示信息，所述轨迹展示信息包括所述多个第一轨迹点与所述电子地图上的道路匹配的位置信息；
拆分模块1003，配置为基于所述第一道路轨迹的道路结构，将所述第一道路轨迹拆分为N条轨迹路段，每条轨迹路段包括连续的M个第一轨迹点，且每条轨迹路段具有唯一的路径方向，所述路径方向为轨迹路段中第一个第一轨迹点到最后一个第一轨迹点的路径方向，N为正整数，M为大于1的整数；
车辆轨迹纠偏模块1004，配置为基于所述N条轨迹路段和所述轨迹展示信息在所述电子地图上对车辆轨迹进行纠偏。
可选的，所述第一获取模块1001包括：
第一获取单元，配置为获取第二道路轨迹，所述第二道路轨迹包括多个第二轨迹点；
修正单元，配置为基于所述多个第二轨迹点中相邻两个第二轨迹点的距离，对所述多个第二轨迹点进行修正，得到所述第一道路轨迹，所述第一道路轨迹中相邻第一轨迹点之间的距离大于第一预设阈值，且小于第二预设阈值。
可选的，所述修正单元，配置为基于所述多个第二轨迹点中相邻两个第二轨迹点的距离，按照预设规则对所述多个第二轨迹点进行修正，得到所述第一道路轨迹；
其中，所述预设规则包括以下至少一项：
在相邻两个第二轨迹点之间的距离小于或等于所述第一预设阈值的情况下，删除所述相邻两个第二轨迹点中任一第二轨迹点；
在相邻两个第二轨迹点之间的距离大于或等于所述第二预设阈值的情况下，在所述相邻两个第二轨迹点之间进行补点；
在相邻两个第二轨迹点未形成与目标路网中的道路对应的闭合线路的情况下，在所述相邻两个第二轨迹点之间进行补点。
可选的，所述车辆轨迹纠偏模块1004包括：
第二获取单元，配置为获取车辆的位置信息；
第一确定单元，配置为从所述N条轨迹路段中确定目标轨迹路段，所述目标轨迹路段为所述N条轨迹路段中与所述位置信息的投影距离最短的轨迹路段；
第二确定单元，配置为确定所述目标轨迹路段中所述位置信息对应的目标轨迹点；
第三获取单元，配置为从所述轨迹展示信息中获取所述目标轨迹点对应的第一展示信息；
车辆位置展示单元，配置为基于所述第一展示信息，在所述电子地图上对所述目标轨迹点进行展示。
可选的，所述装置还包括：
第三获取模块，配置为获取所述N条轨迹路段的展示点集合，所述展示点集合包括所述N条轨迹路段中每条轨迹路段用于展示的K个第一轨迹点，K为小于或等于M的正整数；
第四获取模块，配置为从所述轨迹展示信息中获取所述展示点集合的每个第一轨迹点的第二展示信息；
路线轨迹展示模块，配置为基于所述第二展示信息，在所述电子地图上对所述展示点集合中的每个第一轨迹点进行展示。
车辆轨迹纠偏装置1000能够实现上述车辆轨迹纠偏方法实施例中实现的 各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
下面对本申请实施例提供的电子设备进行说明。
参见图11，图中示出了本申请实施例提供的电子设备的结构示意图。如图11所示，电子设备1100包括：处理器1101、存储器1102、用户接口1103和总线接口1104。
处理器1101，配置为读取存储器1102中的程序，执行下列过程：
获取第一道路轨迹，所述第一道路轨迹包括多个第一轨迹点；
获取所述第一道路轨迹在电子地图上的轨迹展示信息，所述轨迹展示信息包括所述多个第一轨迹点与所述电子地图上的道路匹配的位置信息；
基于所述第一道路轨迹的道路结构，将所述第一道路轨迹拆分为N条轨迹路段，每条轨迹路段包括连续的M个第一轨迹点，且每条轨迹路段具有唯一的路径方向，所述路径方向为轨迹路段中第一个第一轨迹点到最后一个第一轨迹点的路径方向，N为正整数，M为大于1的整数；
基于所述N条轨迹路段和所述轨迹展示信息在所述电子地图上对车辆轨迹进行纠偏。
在图11中，总线架构可以包括任意数量的互联的总线和桥，具体由处理器1101代表的一个或多个处理器和存储器1102代表的存储器的各种电路链接在一起。总线架构还可以将诸如外围设备、稳压器和功率管理电路等之类的各种其他电路链接在一起，这些都是本领域所公知的，因此，本文不再对其进行进一步描述。总线接口1104提供接口。针对不同的用户设备，用户接口1103还可以是能够外接内接需要设备的接口，连接的设备包括但不限于小键盘、显示器、扬声器、麦克风、操纵杆等。
处理器1101负责管理总线架构和通常的处理，存储器1102可以存储处理器1101在执行操作时所使用的数据。
可选的，处理器1101，还配置为：
获取第二道路轨迹，所述第二道路轨迹包括多个第二轨迹点；
基于所述多个第二轨迹点中相邻两个第二轨迹点的距离，对所述多个第二 轨迹点进行修正，得到所述第一道路轨迹，所述第一道路轨迹中相邻第一轨迹点之间的距离大于第一预设阈值，且小于第二预设阈值。
可选的，处理器1101，还配置为：
基于所述多个第二轨迹点中相邻两个第二轨迹点的距离，按照预设规则对所述多个第二轨迹点进行修正，得到所述第一道路轨迹；
其中，所述预设规则包括以下至少一项：
在相邻两个第二轨迹点之间的距离小于或等于所述第一预设阈值的情况下，删除所述相邻两个第二轨迹点中任一第二轨迹点；
在相邻两个第二轨迹点之间的距离大于或等于所述第二预设阈值的情况下，在所述相邻两个第二轨迹点之间进行补点；
在相邻两个第二轨迹点未形成与目标路网中的道路对应的闭合线路的情况下，在所述相邻两个第二轨迹点之间进行补点。
可选的，处理器1101，还配置为：
获取车辆的位置信息；
从所述N条轨迹路段中确定目标轨迹路段，所述目标轨迹路段为所述N条轨迹路段中与所述位置信息的投影距离最短的轨迹路段；
确定所述目标轨迹路段中所述位置信息对应的目标轨迹点；
从所述轨迹展示信息中获取所述目标轨迹点对应的第一展示信息；
基于所述第一展示信息，在所述电子地图上对所述目标轨迹点进行展示。
可选的，处理器1101，还配置为：
获取所述N条轨迹路段的展示点集合，所述展示点集合包括所述N条轨迹路段中每条轨迹路段用于展示的K个第一轨迹点，K为小于或等于M的正整数；
从所述轨迹展示信息中获取所述展示点集合的每个第一轨迹点的第二展示信息；
基于所述第二展示信息，在所述电子地图上对所述展示点集合中的每个第一轨迹点进行展示。
优选的，本申请实施例还提供一种电子设备，包括处理器1101，存储器 1102，存储在存储器1102上并可在所述处理器1101上运行的计算机程序，该计算机程序被处理器1101执行时实现上述车辆轨迹纠偏方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
本申请实施例还提供一种计算机可读存储介质，计算机可读存储介质上存储有计算机程序，该计算机程序被处理器执行时实现上述车辆轨迹纠偏方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。其中，所述的计算机可读存储介质，如只读存储器(Read-Only Memory，简称ROM)、随机存取存储器(Random Access Memory，简称RAM)、磁碟或者光盘等。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的实施例中，应该理解到，所揭露的系统和方法，可以通过其它的方式实现。例如，以上所描述的系统实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部 单元来实现本申请实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以权利要求的保护范围为准。

Claims (12)

  1. 一种车辆轨迹纠偏方法，所述方法包括：
    获取第一道路轨迹，所述第一道路轨迹包括多个第一轨迹点；
    获取所述第一道路轨迹在电子地图上的轨迹展示信息，所述轨迹展示信息包括所述多个第一轨迹点与所述电子地图上的道路匹配的位置信息；
    基于所述第一道路轨迹的道路结构，将所述第一道路轨迹拆分为N条轨迹路段，每条轨迹路段包括连续的M个第一轨迹点，且每条轨迹路段具有唯一的路径方向，所述路径方向为轨迹路段中第一个第一轨迹点到最后一个第一轨迹点的路径方向，N为正整数，M为大于1的整数；
    基于所述N条轨迹路段和所述轨迹展示信息在所述电子地图上对车辆轨迹进行纠偏。
  2. 根据权利要求1所述的方法，其中，所述获取第一道路轨迹，包括：
    获取第二道路轨迹，所述第二道路轨迹包括多个第二轨迹点；
    基于所述多个第二轨迹点中相邻两个第二轨迹点的距离，对所述多个第二轨迹点进行修正，得到所述第一道路轨迹，所述第一道路轨迹中相邻第一轨迹点之间的距离大于第一预设阈值，且小于第二预设阈值。
  3. 根据权利要求2所述的方法，其中，所述基于所述多个第二轨迹点中相邻两个第二轨迹点的距离，对所述多个第二轨迹点进行修正，得到所述第一道路轨迹，包括：
    基于所述多个第二轨迹点中相邻两个第二轨迹点的距离，按照预设规则对所述多个第二轨迹点进行修正，得到所述第一道路轨迹；
    其中，所述预设规则包括以下至少一项：
    在相邻两个第二轨迹点之间的距离小于或等于所述第一预设阈值的情况下，删除所述相邻两个第二轨迹点中任一第二轨迹点；
    在相邻两个第二轨迹点之间的距离大于或等于所述第二预设阈值的情况下，在所述相邻两个第二轨迹点之间进行补点；
    在相邻两个第二轨迹点未形成与目标路网中的道路对应的闭合线路的情况下，在所述相邻两个第二轨迹点之间进行补点。
  4. 根据权利要求1所述的方法，其中，所述基于所述N条轨迹路段和所述轨迹展示信息在所述电子地图上对车辆轨迹进行纠偏，包括：
    获取车辆的位置信息；
    从所述N条轨迹路段中确定目标轨迹路段，所述目标轨迹路段为所述N条轨迹路段中与所述位置信息的投影距离最短的轨迹路段；
    确定所述目标轨迹路段中所述位置信息对应的目标轨迹点；
    从所述轨迹展示信息中获取所述目标轨迹点对应的第一展示信息；
    基于所述第一展示信息，在所述电子地图上对所述目标轨迹点进行展示。
  5. 根据权利要求4所述的方法，其中，所述基于所述第一展示信息在所述电子地图上对所述目标轨迹点进行展示之前，所述方法还包括：
    获取所述N条轨迹路段的展示点集合，所述展示点集合包括所述N条轨迹路段中每条轨迹路段用于展示的K个第一轨迹点，K为小于或等于M的正整数；
    从所述轨迹展示信息中获取所述展示点集合的每个第一轨迹点的第二展示信息；
    基于所述第二展示信息，在所述电子地图上对所述展示点集合中的每个第一轨迹点进行展示。
  6. 一种车辆轨迹纠偏装置，所述装置包括：
    第一获取模块，配置为获取第一道路轨迹，所述第一道路轨迹包括多个第一轨迹点；
    第二获取模块，配置为获取所述第一道路轨迹在电子地图上的轨迹展示信息，所述轨迹展示信息包括所述多个第一轨迹点与所述电子地图上的道路匹配的位置信息；
    拆分模块，配置为基于所述第一道路轨迹的道路结构，将所述第一道路轨迹拆分为N条轨迹路段，每条轨迹路段包括连续的M个第一轨迹点，且 每条轨迹路段具有唯一的路径方向，所述路径方向为轨迹路段中第一个第一轨迹点到最后一个第一轨迹点的路径方向，N为正整数，M为大于1的整数；
    车辆轨迹纠偏模块，配置为基于所述N条轨迹路段和所述轨迹展示信息在所述电子地图上对车辆轨迹进行纠偏。
  7. 根据权利要求6所述的装置，其中，所述第一获取模块包括：
    第一获取单元，配置为获取第二道路轨迹，所述第二道路轨迹包括多个第二轨迹点；
    修正单元，配置为基于所述多个第二轨迹点中相邻两个第二轨迹点的距离，对所述多个第二轨迹点进行修正，得到所述第一道路轨迹，所述第一道路轨迹中相邻第一轨迹点之间的距离大于第一预设阈值，且小于第二预设阈值。
  8. 根据权利要求7所述的装置，其中，所述修正单元，配置为基于所述多个第二轨迹点中相邻两个第二轨迹点的距离，按照预设规则对所述多个第二轨迹点进行修正，得到所述第一道路轨迹；
    其中，所述预设规则包括以下至少一项：
    在相邻两个第二轨迹点之间的距离小于或等于所述第一预设阈值的情况下，删除所述相邻两个第二轨迹点中任一第二轨迹点；
    在相邻两个第二轨迹点之间的距离大于或等于所述第二预设阈值的情况下，在所述相邻两个第二轨迹点之间进行补点；
    在相邻两个第二轨迹点未形成与目标路网中的道路对应的闭合线路的情况下，在所述相邻两个第二轨迹点之间进行补点。
  9. 根据权利要求6所述的装置，其中，所述车辆轨迹纠偏模块包括：
    第二获取单元，配置为获取车辆的位置信息；
    第一确定单元，配置为从所述N条轨迹路段中确定目标轨迹路段，所述目标轨迹路段为所述N条轨迹路段中与所述位置信息的投影距离最短的轨迹路段；
    第二确定单元，配置为确定所述目标轨迹路段中所述位置信息对应的目 标轨迹点；
    第三获取单元，配置为从所述轨迹展示信息中获取所述目标轨迹点对应的第一展示信息；
    车辆位置展示单元，配置为基于所述第一展示信息，在所述电子地图上对所述目标轨迹点进行展示。
  10. 根据权利要求9所述的装置，其中，所述装置还包括：
    第三获取模块，配置为获取所述N条轨迹路段的展示点集合，所述展示点集合包括所述N条轨迹路段中每条轨迹路段用于展示的K个第一轨迹点，K为小于或等于M的正整数；
    第四获取模块，配置为从所述轨迹展示信息中获取所述展示点集合的每个第一轨迹点的第二展示信息；
    路线轨迹展示模块，配置为基于所述第二展示信息，在所述电子地图上对所述展示点集合中的每个第一轨迹点进行展示。
  11. 一种电子设备，所述电子设备包括：包括处理器，存储器，存储在所述存储器上并可在所述处理器上运行的计算机程序，所述计算机程序被所述处理器执行时实现如权利要求1至5中任一项所述的车辆轨迹纠偏方法的步骤。
  12. 一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求1至5中任一项所述的车辆轨迹纠偏方法的步骤。
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