Road positioning method and device, computer equipment and storage medium

Abstract

The invention relates to a road positioning method and device, computer equipment and a storage medium. The method comprises the following steps: matching a plurality of first matching roads from a map library according to corresponding position information of a vehicle at the current moment; determining observation probability distribution of the vehicle on a plurality of first matching roads corresponding to the position information according to road information collected by the vehicle through a plurality of sensors at the current moment, and adding the observation probability distribution corresponding to the current moment to a probability distribution set; determining a state transition matrix corresponding to the current moment and the previous moment according to relevance between a plurality of first matching roads corresponding to the current moment and a plurality of second matching roads corresponding to the previous moment, and adding the state transition matrix to a state transition matrix set; constructing a hidden Markov chain model according to the probability distribution set and the state transition matrix set; and determining the road where the vehicle is located at the current moment through a hidden Markov chain model. By adopting the method, the road positioning precision can be improved.

Description

technical field [0001] The present application relates to the technical field of navigation, in particular to a road positioning method, device, computer equipment and storage medium. Background technique [0002] With the increasingly powerful vehicle navigation functions and the increasing use of high-precision maps, vehicle navigation systems have been able to provide accurate road information and navigation prompts, including but not limited to road speed limits, locations of surrounding gas stations and parking lots, etc. [0003] In vehicle navigation systems, road positioning (or called road-level positioning) is the most basic function. Road positioning can determine that the vehicle is currently on a certain road in the road network through certain algorithms and data. With the development of road infrastructure and cities, urban road networks have become increasingly complex, posing great challenges to road positioning. When a matching error occurs in the road po...

AI Technical Summary

Problems solved by technology

When a matching error occurs in the road positioning, it will cause subsequent navigation errors

[0004] The related road positioning method obtains the global vehicle position through GNSS (Global Navigation Satellite System) and matches it with the map. This solution is restricted by the positioning accuracy of GNSS. In the case of low GNSS positioning accuracy, it will cause road Positioning error, which leads to low accuracy of road positioning

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