Vehicle positioning method, device, electronic device and medium based on parallel roads

Abstract

The embodiment of the present invention discloses a vehicle positioning method, device, electronic device and medium based on parallel roads, wherein the method comprises: obtaining environmental data of a vehicle when it is traveling on any road belonging to parallel roads in real time; determining the target road for the vehicle to travel according to the environmental data; and using the determined target road to correct the vehicle's driving road in the vehicle's navigation map, and positioning the vehicle on the target road. The embodiment of the present invention solves the problem of positioning errors that are prone to occur in existing vehicle positioning methods, and realizes the effect of automatically correcting the vehicle's driving road displayed in the navigation map based on the environmental data obtained in real time when the vehicle is in a road condition environment of parallel roads, thereby ensuring the accuracy of positioning during vehicle driving, and further ensuring the navigation effect.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of vehicle navigation technology, and in particular to a vehicle positioning method, device, electronic device and medium based on parallel roads. Background Art

[0002] The development of vehicle positioning technology has brought great convenience to people's travel. For example, it can automatically plan routes for users according to their destinations, provide real-time path navigation, and provide traffic signal reminders for different roads.

[0003] Based on the existing navigation positioning method, when a vehicle enters any road that belongs to an adjacent road, due to the difference in positioning algorithms, it is easy to have a wrong road positioning phenomenon, which in turn affects the navigation result. There is currently no effective solution to this phenomenon. Summary of the invention

[0004] The embodiments of the present invention provide a vehicle positioning method, device, electronic device and medium based on parallel roads, so as to achieve the effect of accurately positioning the vehicle when the vehicle is in a road condition environment of parallel roads.

[0005] In a first aspect, an embodiment of the present invention provides a vehicle positioning method based on parallel roads, the method comprising:

[0006] Real-time acquisition of environmental data when the vehicle is traveling on any of the parallel roads;

[0007] Determining a target road for the vehicle to travel according to the environmental data;

[0008] By using the determined target road, the driving road of the vehicle is corrected in the navigation map of the vehicle, and the vehicle is positioned on the target road.

[0009] Optionally, the environmental data includes at least one of the number of lane lines, lane line type, lane line color, road traffic signs and roadside sign buildings on the road where the vehicle is traveling.

[0010] Optionally, the number of lane lines of the road on which the vehicle is traveling in the environmental data includes the number of lane lines located on the left side and / or right side of the vehicle along the driving direction of the vehicle; accordingly, the method further includes:

[0011] A target driving lane for the vehicle on the target road is determined according to the number of lane lines on the left side and / or the right side of the vehicle.

[0012] Optionally, the environmental data further includes a distance between the vehicle and the nearest lane line on its left side, or a distance between the vehicle and the nearest lane line on its right side; accordingly, the method further includes:

[0013] Determine the position of the vehicle on the target driving lane according to the distance between the vehicle on the target driving lane and the lane line closest to its left side; or

[0014] The position of the vehicle on the target driving lane is determined according to the distance between the vehicle on the target driving lane and the lane line closest to the right side thereof.

[0015] Optionally, before acquiring in real time the environmental data of the vehicle when it is traveling on any one of the parallel roads, the method further includes:

[0016] Based on the driving position of the vehicle, obtaining road network information corresponding to the driving position on a navigation map;

[0017] Based on the road network information, determining whether the road on which the vehicle is traveling is a straight road, and whether the road on which the vehicle is traveling is connected to an adjacent road;

[0018] If the driving road of the vehicle is a straight road, and there is at least one adjacent straight road in the road network information that is connected to the driving road of the vehicle and has a road direction consistent with the driving road direction of the vehicle, then obtaining a distance between the at least one adjacent straight road and the driving road of the vehicle;

[0019] According to the relationship between the distance and the distance threshold, it is determined whether the driving road of the vehicle and the at least one adjacent straight road are parallel roads.

[0020] Optionally, determining a target road for the vehicle to travel on according to the environmental data includes:

[0021] Determining candidate roads for the vehicle to travel on based on current environmental data of the vehicle;

[0022] If, within a preset driving distance from the current position of the vehicle, it is determined based on the environmental data acquired in real time that the driving roads of the vehicle are all the candidate roads, the candidate roads are determined as the target roads.

[0023] In a second aspect, an embodiment of the present invention further provides a vehicle positioning device based on parallel roads, the device comprising:

[0024] An environmental data acquisition module, used to acquire environmental data of the vehicle in real time when it is traveling on any of the parallel roads;

[0025] A target road determination module, used to determine a target road for the vehicle to travel on according to the environmental data;

[0026] The positioning correction module is used to correct the driving road of the vehicle in the navigation map of the vehicle by using the determined target road, so as to position the vehicle on the target road.

[0027] Optionally, the environmental data includes at least one of the number of lane lines, lane line type, lane line color, road traffic signs and roadside sign buildings on the road where the vehicle is traveling.

[0028] Optionally, the number of lane lines of the road on which the vehicle is traveling in the environmental data includes the number of lane lines located on the left side and / or right side of the vehicle along the driving direction of the vehicle; accordingly, the device further includes:

[0029] The target lane determination module is used to determine the target driving lane of the vehicle on the target road according to the number of lane lines on the left and / or right side of the vehicle.

[0030] Optionally, the environmental data further includes a distance between the vehicle and the nearest lane line on its left side, or a distance between the vehicle and the nearest lane line on its right side; accordingly, the device further includes a vehicle position determination module, and the vehicle position determination module is used to:

[0031] Determine the position of the vehicle on the target driving lane according to the distance between the vehicle on the target driving lane and the lane line closest to its left side; or

[0032] The position of the vehicle on the target driving lane is determined according to the distance between the vehicle on the target driving lane and the lane line closest to the right side thereof.

[0033] Optionally, before the environmental data acquisition module executes real-time acquisition of environmental data when the vehicle is traveling on any one of the parallel roads, the device further includes:

[0034] A road network information acquisition module, used to acquire road network information corresponding to the driving position on a navigation map based on the driving position of the vehicle;

[0035] A road state determination module, used to determine whether the road on which the vehicle is traveling is a straight road, and whether the road on which the vehicle is traveling is connected to an adjacent road based on the road network information;

[0036] a road spacing acquisition module, configured to, if the driving road of the vehicle is a straight road and there is at least one adjacent straight road in the road network information that is connected to the driving road of the vehicle and has the same road direction as the driving road of the vehicle, acquire the distance between the at least one adjacent straight road and the driving road of the vehicle;

[0037] The parallel road determination module is used to determine whether the driving road of the vehicle and the at least one adjacent straight road are parallel roads according to the relationship between the distance and the distance threshold.

[0038] Optionally, the target road determination module includes:

[0039] A first road determination unit, configured to determine a candidate road for the vehicle to travel on according to current environment data of the vehicle;

[0040] The second road determination unit is used to determine the candidate road as the target road if, within a preset driving distance from the current position of the vehicle, it is determined based on the environmental data acquired in real time that all the driving roads of the vehicle are the candidate roads.

[0041] In a third aspect, an embodiment of the present invention further provides an electronic device, including:

[0042] one or more processors;

[0043] a storage device for storing one or more programs,

[0044] When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle positioning method based on parallel roads as described in any embodiment of the present invention.

[0045] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle positioning method based on parallel roads as described in any embodiment of the present invention.

[0046] The embodiment of the present invention obtains in real time environmental data when the vehicle is traveling on any road belonging to parallel roads, determines the target road for the vehicle to travel, and then uses the determined target road to correct the vehicle's driving road in the vehicle's navigation map to position the vehicle on the target road, thereby solving the problem of positioning errors that are prone to occur in existing vehicle positioning methods, and achieves the effect of automatically correcting the vehicle's driving road displayed in the navigation map based on the environmental data obtained in real time when the vehicle is in a road condition environment of parallel roads, thereby ensuring the accuracy of positioning during vehicle driving and further ensuring the navigation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a flow chart of a vehicle positioning method based on parallel roads provided in Embodiment 1 of the present invention;

[0048] Figure 2a This is a road distribution diagram provided by Embodiment 1 of the present invention;

[0049] Figure 2bis another road distribution schematic diagram provided by the first embodiment of the present invention;

[0050] Figure 2c This is another road distribution schematic diagram provided by the first embodiment of the present invention;

[0051] Figure 2d is a schematic diagram of road network information obtained based on the current position of a vehicle provided in the first embodiment of the present invention;

[0052] Figure 3 is a flow chart of a vehicle positioning method based on parallel roads provided in Embodiment 2 of the present invention;

[0053] Figure 4 is a schematic structural diagram of a vehicle positioning device based on parallel roads provided in Embodiment 3 of the present invention;

[0054] Figure 5 It is a structural schematic diagram of an electronic device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0055] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0056] Embodiment 1

[0057] Figure 1 This is a flow chart of a vehicle positioning method based on parallel roads provided in Example 1 of the present invention. This embodiment is applicable to the situation of positioning a vehicle. The method can be executed by a vehicle positioning device based on parallel roads. The device can be implemented in software and / or hardware and can be integrated into electronic devices, such as vehicle-mounted devices.

[0058] like Figure 1 As shown, the vehicle positioning method based on parallel roads provided by the embodiment of the present invention may include:

[0059] S110. Acquire in real time environmental data when the vehicle is traveling on any one of the parallel roads.

[0060] The parallel road in this embodiment refers to a road where the distance between any two adjacent straight roads is less than or equal to the distance threshold among at least two straight roads. In the existing road positioning method, when a vehicle is in a road environment with parallel roads, due to the small distance between adjacent roads and the defects of the positioning algorithm itself, it is easy to have the problem of vehicle positioning error. For example, the current position of the vehicle is displayed on the adjacent road of the current driving road in the navigation map. When the positioning is wrong, the driver can only manually correct the positioning on the navigation map, which brings great inconvenience to the travel. Therefore, based on the scheme of this embodiment, by real-time monitoring of the environmental data during the vehicle driving process, it can lay the foundation for the subsequent timely correction of the vehicle positioning result.

[0061] Environmental data refers to information related to the current road on which the vehicle is traveling. Based on different environmental data, the road on which the vehicle is traveling can be distinguished. Specifically, the vehicle can be equipped with a variety of sensors to monitor the environmental data during its driving process in real time, such as laser radar, ultrasonic sensor, and camera. Optionally, the environmental data includes at least one of the number of lane lines, lane line type, lane line color, road traffic signs, and roadside sign buildings on the road on which the vehicle is traveling.

[0062] S120: Determine a target road for the vehicle to travel on based on the environmental data.

[0063] The target road is the actual driving road of the vehicle. When one type of environmental data is not sufficient to distinguish different roads, at least two types of environmental data can be flexibly selected from the multiple environmental data acquired in real time for determining the target road according to the actual situation of the urban roads. Moreover, according to the road distribution characteristics of different urban areas, priorities can be set for environmental data. When multiple types of environmental data are acquired at the same time, environmental data for determining the target road is selected according to the priority of the environmental data. At this time, the higher the priority of the environmental data, the more effective it is in distinguishing the target road.

[0064] In example 1, during the driving process of the vehicle, the current environment data acquired in real time includes the number of lane lines on the driving road. Figure 2a As shown in the figure, three roads are shown, namely, road A1, road B1 and road C1, where road A1 has three lanes, and roads B1 and C1 both have four lanes. When a vehicle (indicated by a triangle pattern in the figure) enters a lane of road A1 from road C1, according to the fact that the current driving road included in the environmental data has three lanes, it can be determined that the target road for the vehicle is road A1, not road B1.

[0065] Example 2: During the driving process of the vehicle, the current environment data acquired in real time includes the lane line type of the driving road. Figure 2bAs shown in the figure, three roads are shown, namely Road A2, Road B2 and Road C2, where Road A2 includes three lane lines, the lane lines on both sides are solid lines, and the middle lane line is a dotted line; Road B2 also includes three lane lines, all of which are solid lines; Road C2 includes five lane lines, the two lane lines on the outside are solid lines, and the three lane lines in the middle are dotted lines. When a vehicle (represented by a triangle pattern in the figure) enters a lane of Road A2 from Road C2, according to the current driving road included in the environmental data, which includes three lane lines, the lane lines on both sides are solid lines, and the middle lane line is a dotted line, it can be determined that the target road for the vehicle is Road A2, not Road B2.

[0066] Example 3: During the driving process of the vehicle, the current environment data acquired in real time includes road traffic signs on the driving road, such as speed limit signs and ground guide arrows. Figure 2c As shown in the figure, two roads are shown with different speed limit signs on the ground. When the speed limit values ​​corresponding to the speed limit sign of the current road in the acquired environmental data include 50km / h and 80km / h, it can be determined that the target lane for the vehicle to travel is the road on the right, not the road on the left.

[0067] The above is an exemplary description of the present embodiment and should not be taken as a specific limitation of the present embodiment.

[0068] Optionally, a target road for the vehicle to travel is determined based on the environmental data, including:

[0069] Determine candidate roads for the vehicle to travel based on current environmental data of the vehicle;

[0070] If, within a preset driving distance from the current position of the vehicle, it is determined based on the environmental data acquired in real time that all of the roads the vehicle is traveling on are candidate roads, then the candidate roads are determined as target roads.

[0071] By repeatedly confirming the vehicle's driving road within a preset driving distance, the accuracy of the target road determination can be ensured. The preset driving distance can be adaptively set, for example, it can be set to 100 meters. Figure 2a As shown, according to the current environmental data, it is determined that the vehicle is traveling on road A1. When the vehicle continues to travel for 100 meters, according to the real-time environmental data, it is determined that the vehicle's driving road is always road A1, and road A1 is the target driving lane of the vehicle.

[0072] S130: Using the determined target road, correct the driving road of the vehicle in the navigation map of the vehicle to position the vehicle on the target road.

[0073] Before correction, the vehicle driving road displayed in the navigation map refers to the result of real-time positioning of the vehicle using any existing navigation positioning technology, such as the vehicle driving road determined by combining navigation positioning technology based on dead reckoning (DR) algorithm and navigation map data. If the vehicle driving road displayed on the navigation map is not the target road, the vehicle driving road displayed in the navigation map is corrected using the determined target road, and the vehicle is positioned on the target road, so that the vehicle driving road displayed in the navigation map is consistent with the vehicle's actual driving road, thereby ensuring the vehicle navigation effect.

[0074] Based on the above technical solution, optionally, before obtaining in real time the environmental data of the vehicle when traveling on any of the parallel roads, the method further includes:

[0075] Based on the driving position of the vehicle, road network information corresponding to the driving position is obtained on the navigation map, wherein the road network information refers to the distribution of roads within a preset area centered on the current position of the vehicle. The range of the preset area can be adaptively set and is not specifically limited in this embodiment;

[0076] Based on the road network information, determine whether the vehicle's driving road is a straight road, and whether the vehicle's driving road is connected to the adjacent roads. That is, not only determine whether the vehicle's current driving road is a straight road, but also determine whether the current driving road intersects with nearby roads;

[0077] If the driving road of the vehicle is a straight road, and there is at least one adjacent straight road in the road network information that is connected to the driving road of the vehicle and has the same road direction as the driving road of the vehicle, then the distance between the at least one adjacent straight road and the driving road of the vehicle is obtained, wherein the connectivity relationship between the roads includes a direct connectivity relationship between the roads and an indirect connectivity relationship between the roads;

[0078] According to the relationship between the distance and the distance threshold, it is determined whether the vehicle's driving road and the at least one adjacent straight road are parallel roads. The distance threshold can be set adaptively, for example, to 80 meters. When the distance between the vehicle's driving road and the road adjacent to it is less than or equal to the distance threshold, it is considered that the vehicle's current driving road and at least one adjacent straight road are parallel roads, and the current vehicle is in a parallel road condition. The positioning device already on the auxiliary vehicle of this embodiment can be enabled to accurately locate the vehicle on the road.

[0079] For example, Figure 2dAs shown, it shows a schematic diagram of road network information obtained based on the current position of the vehicle. Based on the existing positioning equipment on the vehicle, it is determined that the current position of the vehicle is on road AF (the triangle in the figure represents the current position of the vehicle), and the road network information includes road AB, road AD, road AF, road GH, road BC and road DE respectively. Among them, road AB, road AD and road AF are directly connected roads, road AF and road BC as well as road AF and road DE are indirectly connected roads, road AF, road BC, road DE and road GH are straight roads, but road GH is not connected with road AF, road BC and road DE. Therefore, it is only necessary to obtain the distance S1 between road AF and road BC, and the distance S2 between road AF and road DE. If the distance threshold is 80 meters, S1 is less than 80 meters, and S2 is greater than 80 meters, then road AF and road BC are parallel roads, and road AF and road DE are not parallel roads. Therefore, when the vehicle enters road AF or road BC, the solution of this embodiment can be executed to correct the current driving road determined by the vehicle based on the existing positioning device to ensure the accuracy of the road where the vehicle is located displayed in the navigation map when the vehicle is driving on road AF or road BC.

[0080] The technical solution of this embodiment obtains the environmental data of the vehicle when it is traveling on any road belonging to the parallel roads in real time, determines the target road for the vehicle to travel, and then uses the determined target road to correct the vehicle's driving road in the vehicle's navigation map to position the vehicle on the target road, thereby solving the problem of positioning errors that are prone to occur in existing vehicle positioning methods, and achieves the effect of automatically correcting the vehicle's driving road displayed in the navigation map based on the environmental data obtained in real time when the vehicle is in a road condition environment of parallel roads, thereby ensuring the accuracy of vehicle positioning during driving, and further ensuring the navigation effect.

[0081] Embodiment 2

[0082] Figure 3 1 is a flow chart of a vehicle positioning method based on parallel roads provided in Embodiment 2 of the present invention. This embodiment is further optimized on the basis of the above embodiment. Figure 3 As shown, the method may include:

[0083] S210. Acquire in real time environmental data when the vehicle is traveling on any of the parallel roads.

[0084] S220: Determine a target road for the vehicle to travel on based on the environmental data.

[0085] S230: Using the determined target road, correct the driving road of the vehicle in the navigation map of the vehicle to position the vehicle on the target road.

[0086] S240: Determine a target driving lane for the vehicle on the target road according to the number of lane lines on the left and / or right side of the vehicle.

[0087] The number of lane lines of the vehicle's driving road in the environmental data obtained in real time by the vehicle sensor includes the number of lane lines on the left and / or right side of the vehicle along the vehicle's driving direction. Therefore, after the target road is determined, the lane line distribution and lane distribution on the target road are known, and the vehicle's current driving lane can be determined based on the number of lane lines on the left and / or right side of the driving vehicle. Exemplarily, the vehicle's dedicated camera system can be used to monitor the lane line distribution of the vehicle's driving road and the distance between the vehicle and each lane line, and then transmit the monitoring data to a vehicle positioning device based on parallel roads, so as to accurately display the vehicle's target driving lane in the navigation map.

[0088] Furthermore, the environmental data acquired in real time also includes the distance between the vehicle and the nearest lane line on its left side, or the distance between the vehicle and the nearest lane line on its right side; accordingly, the method also includes:

[0089] Determine the position of the vehicle on the target driving lane based on the distance between the vehicle on the target driving lane and the lane line closest to its left side; or

[0090] The position of the vehicle on the target driving lane is determined based on the distance between the vehicle on the target driving lane and the nearest lane line on its right.

[0091] After the vehicle's target driving lane is determined, the actual distance between the vehicle and the nearest lane line is converted into the distance displayed on the map based on the distance between the current vehicle and the nearest lane line on its left, or the distance between the current vehicle and the nearest lane line on its right, according to the display ratio of the map data, so as to accurately display the vehicle's current position on the navigation map.

[0092] The technical solution of the present embodiment The technical solution of the present embodiment determines the target road for the vehicle by acquiring in real time the environmental data of the vehicle when it is traveling on any road belonging to the parallel roads, and then uses the determined target road to correct the vehicle's driving road in the vehicle's navigation map to position the vehicle on the target road. Finally, the target driving lane of the vehicle is determined according to the number of lane lines on the left and / or right side of the vehicle. At the same time, the position of the vehicle on the target lane can also be accurately located according to the distance between the vehicle and the nearest lane line, which solves the problem of positioning errors that are prone to occur in existing vehicle positioning methods, and achieves the effect of automatically correcting and improving the vehicle's driving position displayed in the navigation map based on the environmental data acquired in real time when the vehicle is in a road condition environment of a parallel road, thereby ensuring the accuracy of vehicle positioning during driving, and further ensuring the navigation effect.

[0093] Embodiment 3

[0094] Figure 4 1 is a schematic diagram of the structure of a vehicle positioning device based on parallel roads provided in Embodiment 3 of the present invention. This embodiment is applicable to the situation of positioning a vehicle. The device can be implemented in software and / or hardware and can be integrated in electronic equipment, such as vehicle-mounted equipment.

[0095] like Figure 4 As shown, the vehicle positioning device based on parallel roads provided in this embodiment may include an environment data acquisition module 410, a target road determination module 420 and a positioning correction module 430, wherein:

[0096] An environmental data acquisition module 410 is used to acquire environmental data of the vehicle in real time when the vehicle is traveling on any of the parallel roads;

[0097] A target road determination module 420 is used to determine a target road for the vehicle to travel according to the environmental data;

[0098] The positioning correction module 430 is used to correct the driving road of the vehicle in the navigation map of the vehicle by using the determined target road, so as to position the vehicle on the target road.

[0099] Optionally, the environmental data includes at least one of the number of lane lines, lane line type, lane line color, road traffic signs and roadside sign buildings on the road where the vehicle is traveling.

[0100] Optionally, the number of lane lines on the road where the vehicle is traveling in the environmental data includes the number of lane lines located on the left side and / or right side of the vehicle along the driving direction of the vehicle; accordingly, the device further includes:

[0101] The target lane determination module is used to determine the target driving lane of the vehicle on the target road according to the number of lane lines on the left and / or right side of the vehicle.

[0102] Optionally, the environmental data further includes a distance between the vehicle and the nearest lane line on its left side, or a distance between the vehicle and the nearest lane line on its right side; accordingly, the device further includes a vehicle position determination module, which is used to:

[0103] Determine the position of the vehicle on the target driving lane based on the distance between the vehicle on the target driving lane and the lane line closest to its left side; or

[0104] The position of the vehicle on the target driving lane is determined based on the distance between the vehicle on the target driving lane and the nearest lane line on its right.

[0105] Optionally, before the environmental data acquisition module 410 executes real-time acquisition of environmental data when the vehicle is traveling on any one of the parallel roads, the device further includes:

[0106] A road network information acquisition module is used to acquire road network information corresponding to the driving position on the navigation map based on the driving position of the vehicle;

[0107] A road state determination module, used to determine whether the road the vehicle is traveling on is a straight road, and whether the road the vehicle is traveling on is connected to an adjacent road, based on road network information;

[0108] A road spacing acquisition module, configured to acquire the distance between the at least one adjacent straight road and the vehicle's driving road if the vehicle's driving road is a straight road and there is at least one adjacent straight road in the road network information that is connected to the vehicle's driving road and has the same road direction as the vehicle's driving road;

[0109] The parallel road determination module is used to determine whether the vehicle's driving road and the at least one adjacent straight road are parallel roads according to the relationship between the distance and the distance threshold.

[0110] Optionally, the target road determination module 420 includes:

[0111] A first road determination unit, configured to determine a candidate road for the vehicle to travel on according to current environment data of the vehicle;

[0112] The second road determination unit is used to determine the candidate road as the target road if all the roads traveled by the vehicle are determined to be candidate roads according to the environmental data acquired in real time within a preset travel distance from the current position of the vehicle.

[0113] The vehicle positioning device based on parallel roads provided in the embodiment of the present invention can execute the vehicle positioning method based on parallel roads provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For the contents not described in detail in this embodiment, reference can be made to the description in the method embodiment of the present invention.

[0114] Embodiment 4

[0115] Figure 5 It is a structural schematic diagram of an electronic device provided in Embodiment 4 of the present invention. Figure 5 A block diagram of an exemplary electronic device 512 suitable for implementing embodiments of the present invention is shown. Figure 5 The electronic device 512 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0116] like Figure 5As shown, the electronic device 512 is in the form of a general electronic device. The components of the electronic device 512 may include, but are not limited to: one or more processors 516, a storage device 528, and a bus 518 connecting different system components (including the storage device 528 and the processor 516).

[0117] Bus 518 represents one or more of several types of bus structures, including a storage device bus or storage device controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. For example, these architectures include but are not limited to Industry Subversive Alliance (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnect (PCI) bus.

[0118] The electronic device 512 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 512, including volatile and non-volatile media, removable and non-removable media.

[0119] The storage device 528 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 530 and / or cache memory 532. The electronic device 512 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 534 may be used to read and write non-removable, non-volatile magnetic media ( Figure 5 not shown, usually called a "hard drive"). Although Figure 5Not shown in the figure, a disk drive for reading and writing a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing a removable non-volatile optical disk, such as a compact disc read-only memory (CD-ROM), a digital video disc (DVD-ROM) or other optical media) can be provided. In these cases, each drive can be connected to the bus 518 through one or more data medium interfaces. The storage device 528 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the embodiments of the present invention.

[0120] A program / utility 540 having a set (at least one) of program modules 542 may be stored, for example, in storage device 528, such program modules 542 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 542 generally perform the functions and / or methods of the embodiments described herein.

[0121] The electronic device 512 may also communicate with one or more external devices 514 (e.g., a keyboard, a pointing terminal, a display 524, etc.), may also communicate with one or more terminals that enable a user to interact with the electronic device 512, and / or communicate with any terminal that enables the electronic device 512 to communicate with one or more other computing terminals (e.g., a network card, a modem, etc.). Such communication may be performed through an input / output (I / O) interface 522. Furthermore, the electronic device 512 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 520. Figure 5 As shown, the network adapter 520 communicates with other modules of the electronic device 512 via the bus 518. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device 512, including but not limited to: microcode, terminal drivers, redundant processors, external disk drive arrays, disk arrays (Redundant Arrays of Independent Disks, RAID) systems, tape drives, and data backup storage systems.

[0122] The processor 516 executes various functional applications and data processing by running the program stored in the storage device 528, for example, implementing the vehicle positioning method based on parallel roads provided in any embodiment of the present invention, which may include:

[0123] Real-time acquisition of environmental data when the vehicle is traveling on any of the parallel roads;

[0124] Determining a target road for the vehicle to travel according to the environmental data;

[0125] By using the determined target road, the driving road of the vehicle is corrected in the navigation map of the vehicle, and the vehicle is positioned on the target road.

[0126] Embodiment 5

[0127] Embodiment 5 of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, a vehicle positioning method based on parallel roads as provided in any embodiment of the present invention is implemented. The method may include:

[0128] Real-time acquisition of environmental data when the vehicle is traveling on any of the parallel roads;

[0129] Determining a target road for the vehicle to travel according to the environmental data;

[0130] By using the determined target road, the driving road of the vehicle is corrected in the navigation map of the vehicle, and the vehicle is positioned on the target road.

[0131] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0132] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0133] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0134] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or terminal. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0135] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A vehicle positioning method based on parallel roads, characterized in that: include: Acquiring in real time environmental data when a vehicle is traveling on any road belonging to parallel roads; wherein the parallel road refers to a road in which the distance between any two adjacent straight roads among at least two straight roads is less than or equal to a distance threshold; the environmental data includes the number of lane lines of the road on which the vehicle is traveling; the number of lane lines of the road on which the vehicle is traveling includes the number of lane lines located on the left side and / or right side of the vehicle along the driving direction of the vehicle; Determine the target road for the vehicle to travel on according to the environmental data; wherein the environmental data is information related to the current road traveled by the vehicle and is used to distinguish the road traveled by the vehicle; the target road is the actual road traveled by the vehicle; Using the determined target road, correcting the driving road of the vehicle in the navigation map of the vehicle to position the vehicle on the target road; Based on the lane line distribution and lane distribution on the target road, and according to the number of lane lines on the left and / or right side of the vehicle, a target driving lane for the vehicle on the target road is determined.

2. The method according to claim 1, characterized in that The environmental data also includes at least one of lane line type, lane line color, road traffic signs and roadside sign buildings.

3. The method according to claim 1, characterized in that The environmental data also includes a distance between the vehicle and the nearest lane line on its left side, or a distance between the vehicle and the nearest lane line on its right side; accordingly, the method also includes: Determine the position of the vehicle on the target driving lane according to the distance between the vehicle on the target driving lane and the lane line closest to its left side; or The position of the vehicle on the target driving lane is determined according to the distance between the vehicle on the target driving lane and the lane line closest to the right side thereof.

4. The method according to claim 1, characterized in that Before acquiring the environmental data of the vehicle when traveling on any one of the parallel roads in real time, the method further includes: Based on the driving position of the vehicle, obtaining road network information corresponding to the driving position on a navigation map; Based on the road network information, determining whether the road on which the vehicle is traveling is a straight road, and whether the road on which the vehicle is traveling is connected to an adjacent road; If the driving road of the vehicle is a straight road, and there is at least one adjacent straight road in the road network information that is connected to the driving road of the vehicle and has a road direction consistent with the driving road direction of the vehicle, then obtaining a distance between the at least one adjacent straight road and the driving road of the vehicle; According to the relationship between the distance and the distance threshold, it is determined whether the driving road of the vehicle and the at least one adjacent straight road are parallel roads.

5. The method according to any one of claims 1 to 4, characterized in that: Determining a target road for the vehicle to travel on according to the environmental data includes: Determining candidate roads for the vehicle to travel on based on current environmental data of the vehicle; If, within a preset driving distance from the current position of the vehicle, it is determined based on the environmental data acquired in real time that the driving roads of the vehicle are all the candidate roads, the candidate roads are determined as the target roads.

6. A vehicle positioning device based on parallel roads, characterized in that: include: An environmental data acquisition module, used for acquiring in real time environmental data when a vehicle is traveling on any road belonging to parallel roads; wherein the parallel road refers to a road in which the distance between any two adjacent straight roads among at least two straight roads is less than or equal to a distance threshold; the environmental data includes the number of lane lines of the road on which the vehicle is traveling; the number of lane lines of the road on which the vehicle is traveling includes the number of lane lines located on the left and / or right side of the vehicle along the driving direction of the vehicle; a target road determination module, configured to determine a target road for the vehicle to travel on according to the environmental data; wherein the environmental data is information related to the current road traveled by the vehicle and is used to distinguish the road traveled by the vehicle; and the target road is the actual road traveled by the vehicle; A positioning correction module, used to correct the driving road of the vehicle in the navigation map of the vehicle by using the determined target road, so as to position the vehicle on the target road; The target lane determination module is used to determine the target driving lane of the vehicle on the target road based on the lane line distribution and lane distribution on the target road and the number of lane lines on the left and / or right side of the vehicle.

7. The device according to claim 6, characterized in that The environmental data includes at least one of lane line type, lane line color, road traffic signs and roadside sign buildings.

8. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle positioning method based on parallel roads as described in any one of claims 1-5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the vehicle positioning method based on parallel roads as described in any one of claims 1 to 5 is implemented.

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