Positioning calibration method and apparatus, storage medium

Abstract

Embodiments of the present application provide a positioning calibration method and device, and a storage medium. Road information and motion trajectory information are obtained through navigation information and Internet of Vehicles map information, and then deviation compensation of the positioning position is realized, auxiliary positioning calibration is realized, positioning accuracy is improved, and application scenarios are diversified.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle navigation, and in particular to a positioning calibration method and device and a storage medium. BACKGROUND

[0002] Vehicle-to-Everything (V2X) is an important part of intelligent transportation and a key technology of future intelligent transportation systems. In intelligent transportation systems, the positioning and navigation of vehicles are particularly important. For example, V2X requires at least lane-level positioning of vehicles. This puts higher requirements on the Global Navigation Satellite System (GNSS).

[0003] In related technologies, the GNSS cannot achieve sub-meter accuracy. Some related technologies use Real-time kinematic (RTK) technology to improve positioning accuracy, but this greatly increases the cost, and the computing power of RTK is limited, so its application is also limited. How to improve positioning accuracy and use it in a variety of scenarios is a problem that needs to be discussed. SUMMARY

[0004] Embodiments of the present application provide a positioning calibration method and device and a storage medium, which aim to improve positioning accuracy through position compensation.

[0005] In a first aspect, embodiments of the present application provide a positioning method, which includes: obtaining navigation information of a vehicle and V2X map information; obtaining road information corresponding to a position of the vehicle according to the obtained navigation information and the V2X map information; obtaining motion trajectory information of the vehicle according to the navigation information; and obtaining position compensation data according to the road information, the motion trajectory information and the V2X map information.

[0006] In a second aspect, embodiments of the present application provide an electronic device, which includes a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the positioning calibration method in the first aspect when executing the computer program.

[0007] In a third aspect, embodiments of the present application provide a computer-readable storage medium, which stores computer-executable instructions, and the computer program is executable to implement the positioning calibration method in the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0008] Figure 1 A system architecture diagram is provided for an embodiment of the present application.

[0009] Figure 2 A flow chart of a positioning calibration method provided by an embodiment of the present application is shown in FIG. 1.

[0010] Figure 3 A schematic diagram of a lane positioning error scenario provided by an embodiment of the present application is shown in FIG. 2.

[0011] Figure 4 A flow chart of a positioning deviation correction algorithm provided by an embodiment of the present application is shown in FIG. 3.

[0012] Figure 5 A structural schematic diagram of a positioning device provided by an embodiment of the present application is shown in FIG. 4.

[0013] Figure 6 A structural schematic diagram of a positioning calibration device provided by an embodiment of the present application is shown in FIG. 5.

[0014] Figure 7 A structural schematic diagram of an electronic device provided by an embodiment of the present application is shown in FIG. 6. DETAILED DESCRIPTION

[0015] In order to make the purposes, technical methods and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and do not limit the present application.

[0016] It should be noted that although the logical order is shown in the flow chart, in some cases, the steps shown or described in the flow chart can be performed in an order different from that in the flow chart. The terms "first", "second", etc. in the description, claims and above drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0017] In the description of the embodiments of the present application, the words such as setting, installing, connecting, etc. should be understood in a broad sense, and the person skilled in the art can reasonably determine the specific meaning of the above words in the embodiments of the present application in combination with the specific content of the technical solutions. In the embodiments of the present application, the words "further", "exemplarily" or "optionally" are used to represent as an example, illustration or description, and should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. The use of the words "further", "exemplarily" or "optionally" is intended to present the related concept in a specific way.

[0018] The embodiments of the present application can be applied to vehicle-mounted terminals, vehicle-mounted units and other vehicle-mounted devices. The embodiments of the present application are not specifically limited.

[0019] In actual V2X scenarios, positioning inaccuracies are often found. The inherent properties of GNSS determine that GNSS positioning alone will be disturbed by real-time environmental changes such as weather and reflection, resulting in a 3-meter or more error in the actual calculation of the perception coordinates. For example, a vehicle is actually running on a left-turn lane, but the GNSS data will be incorrectly labeled as a straight lane, which seriously affects the judgment of the lane by the vehicle networking system in the V2X scenario, and in turn affects the related scenarios that rely heavily on the lane, such as red light warning, vehicle-to-vehicle (V2V) collision warning, and left-turn warning.

[0020] The embodiments of the present application provide a positioning calibration method and device, and a storage medium. Road information and motion trajectory information are obtained through navigation information and vehicle networking map information, and then auxiliary positioning calibration is realized, the positioning accuracy is improved, and the application scenarios are diversified. The present application can also realize accurate positioning of vehicles on the road in scenarios without RTK, which is not only low in cost, but also diversified in application scenarios.

[0021] The embodiments of the present application will be further described below with reference to the accompanying drawings.

[0022] Figure 1 is a system architecture diagram of the positioning calibration method provided by an embodiment of the present application. As shown in Figure 1 , the system architecture can include, but is not limited to, a GNSS module 110, a V2X map module 120, a calibration module 130, an event triggering module 140, and a compensation database 150.

[0023] The GNSS module 110 is in communication connection with the calibration module 130 and the event triggering module 140, respectively. The GNSS module 110 is configured to obtain navigation information and send relevant information to the calibration module 130 and the event triggering module 140.

[0024] The V2X map module 120 is in communication connection with the calibration module 130 and the event triggering module 140, respectively. The V2X map module 120 is configured to obtain vehicle networking map information and send relevant information to the calibration module 130 and the event triggering module 140.

[0025] The calibration module 130 is in communication connection with the compensation database 150. The calibration module 130 is configured to analyze and calibrate the current vehicle positioning position according to the received navigation information and vehicle networking map information, and send the generated position compensation data to the compensation database 150.

[0026] The compensation database 150 is in communication connection with the event triggering module 140. The compensation database 150 is configured to send the position compensation data generated by the calibration to the event triggering module 140.

[0027] The event triggering module 140 is configured to receive the navigation information, the V2X map information and the position compensation data, and trigger a corresponding scene event according to the relevant information.

[0028] In some possible embodiments, the V2X map information can include a lane-level high-precision map.

[0029] In some possible embodiments, the calibration module 130 is configured to obtain road information according to the received navigation information and the V2X map information, where the road information includes relevant information of a lane where the current vehicle is positioned, such as which lane it is, and whether it is a left-turn lane, a straight lane or a right-turn lane. The calibration module 130 is further configured to obtain motion trajectory information according to the navigation information.

[0030] In some possible embodiments, the calibration module 130 is configured to judge and calibrate the vehicle position according to the road information and the motion trajectory information, and generate position compensation information.

[0031] In some possible embodiments, after the calibration module 130 judges that the vehicle needs to be calibrated, the calibration module 130 obtains lane data of the lane where the current positioning is located according to the current navigation information. The calibration module 130 further obtains lane data of the lane where the vehicle is actually located according to the motion trajectory information of the vehicle. According to the lane data of the current positioning and the lane data of the actual lane, corresponding lanes are respectively confirmed in the V2X map information, and the position compensation information is calculated according to the relative distance, direction and other data between the lanes provided by the V2X map information.

[0032] The embodiment does not need RTK technology, and combines GNSS technology and a lane-level high-precision map of V2X. In the case of only using GNSS technology, the vehicle position is corrected and compensated, the requirement for computing power is low, the cost is reduced, and the dependence of a low-cost V2X terminal on RTK technology is relieved.

[0033] Figure 2 FIG. 1 is a flowchart of a positioning calibration method according to an embodiment of the present application. As shown in FIG. 1, the precise positioning method can be used in a vehicle-mounted unit or a vehicle-mounted terminal. Figure 2 In the embodiment, the positioning method can include but is not limited to steps S1000, S2000, S3000 and S4000. Figure 2 Step S1000: Obtain navigation information and V2X map information of a vehicle.

[0034]

[0035] ​The navigation information is determined in GNSS positioning data collected by the GNSS module, and the Internet of Vehicles map information is extracted from a lane-level high-precision map in V2X. The navigation information can include the position of the motion device at a certain time, the travel distance of the motion device, the travel path of the motion device, the travel mode of the motion device, and the latitude, longitude, and altitude of the motion device. It can be understood that the motion device can include but is not limited to a car, a smart car, a truck, and other vehicles, and can also be other vehicles or motion devices with relatively fixed travel path rules. In the specific embodiments of the present application, a vehicle is taken as an example for description.

[0036] In some possible embodiments, the lane-level high-precision map can be obtained through an RSU (Road Side Unit) or broadcast distribution through a PC5 communication protocol or any other suitable manner.

[0037] In some possible embodiments, the lane-level high-precision map can also be pre-set in a vehicle-mounted unit, a vehicle-mounted terminal, or other portable V2X devices.

[0038] Step S2000: According to the obtained navigation information and the Internet of Vehicles map information, road information corresponding to the position of the vehicle is obtained.

[0039] According to the navigation information and the Internet of Vehicles map information, the road on which the vehicle is currently positioned and the corresponding road information are obtained, wherein the road information can include the relevant information of the lane where the vehicle is currently located, such as which lane the corresponding lane is, whether the corresponding lane is uphill or downhill, and the lane capacity of the corresponding lane, such as whether the lane is a straight lane, a left-turn lane, a right-turn lane, or a U-turn lane.

[0040] Step S3000: According to the navigation information, motion trajectory information of the vehicle is obtained. The motion trajectory information is used to represent the travel trajectory of the vehicle in a current time period or a certain time period.

[0041] According to the navigation information, the motion trajectory information of the vehicle in a current time period or a historical time period can be generated, such as left turn, right turn, U-turn, straight driving, uphill, downhill, etc.

[0042] Step S4000: According to the road information, the motion trajectory information, and the Internet of Vehicles map information, position compensation data is obtained.

[0043] In some possible embodiments, after step S4000, at least the following steps are included but are not limited to:

[0044] According to the position compensation data, the navigation information is compensated and calculated to obtain compensated navigation information;

[0045] According to the compensated navigation information and the vehicle networking map information, positioning information is obtained.

[0046] According to the road information and the motion trajectory information, it is determined whether the current positioning of the vehicle is accurate, whether correction and calibration are needed, and position compensation data is obtained according to the result of correction and calibration, the correct position of the vehicle on the vehicle networking map is confirmed according to the position compensation data, and the navigation information is adjusted according to the position compensation data, and the positioning of the GNSS is calibrated.

[0047] The position compensation information can include an offset distance and an offset direction between the lane where the vehicle is currently positioned and the lane where the vehicle should actually be positioned.

[0048] In some possible embodiments, the road information includes lane driving direction information, and the motion trajectory information includes driving direction information of the motion device.

[0049] According to the lane driving direction information, first lane data is obtained from the vehicle networking map information.

[0050] According to the driving direction information of the vehicle, second lane data is obtained from the vehicle networking map information.

[0051] The position compensation data is calculated according to the first lane data and the second lane data.

[0052] Specifically, the lane driving direction information represents the correct driving direction of the vehicle in the lane, such as right turn, left turn, straight driving, U-turn, etc. After obtaining the road information of the lane where the current positioning information corresponds to, the lane driving direction information of the lane is obtained according to the road information, and the driving trajectory of the vehicle in accordance with the lane capacity of the current lane is obtained. The motion trajectory obtained according to the navigation information is matched with the driving trajectory corresponding to the lane where the current positioning is located. In the case that the trajectories are consistent and the motion trajectory matches the lane capacity, i.e., the driving direction of the vehicle is consistent with the lane driving direction, it is determined that the current vehicle positioning information is accurate and no calibration is needed. In the case that the trajectories are inconsistent and the motion trajectory does not match the lane capacity, i.e., the driving direction of the vehicle is inconsistent with the lane driving direction, it is determined that the current vehicle positioning information is incorrect and the lane positioning has deviation, and calibration is needed.

[0053] For example, according to the navigation information and the vehicle networking map information, it is determined that the vehicle is currently on a straight driving lane, and the driving trajectory of the vehicle is right turn, but the straight driving lane cannot turn right, so the driving trajectory and the lane capacity are obviously inconsistent. Therefore, the positioning deviates and calibration is needed.

[0054] In some feasible implementations, after confirming the lane where the current location is situated based on navigation information and vehicle network map information, the first lane data corresponding to that lane is obtained from the vehicle network map. The first lane data includes multiple consecutive coordinates of the corresponding lane forming a lane in the vehicle network map. The vehicle's driving trajectory in the current time period is extracted based on the navigation information to obtain the driving direction information of the lane. Based on the driving direction information, the lane matching the driving direction information is confirmed in the vehicle network map. The second lane data corresponding to that lane is obtained from the vehicle network map. The second lane data includes multiple consecutive coordinates of the corresponding lane forming a lane in the vehicle network map. Based on the first lane data and the second lane data, the distance and relative direction between the two lanes are calculated, i.e., the position compensation data is obtained.

[0055] In some feasible implementations, the location compensation data includes at least one of the following: direction data; distance data.

[0056] Once a positioning error is confirmed and calibration is required, the lanes and corresponding road information matching the motion trajectory are identified in the high-precision lane-level map of the vehicle-to-everything (V2X) network, i.e., the lane information that should be in the correct lane. After obtaining the lane information, since the V2X map contains the distances and relative positions between lanes, the distance between the lane that should be in the correct lane and the currently positioned lane, and / or the offset direction of the currently positioned lane relative to the correct lane, can be calculated from the V2X map. Based on the distance and / or offset direction between the lane that should be in the correct lane and the currently positioned lane, position compensation data is obtained. Based on the obtained offset distance and / or offset direction, the currently positioned lane is calibrated to ensure that the GNSS positioning is in the correct lane. Calibration can be performed with lateral lane compensation as one dimension, and subsequent compensation in multiple dimensions on other lanes can be performed to complete the compensation across the entire latitude and longitude plane coordinate system.

[0057] For example, such as Figure 3 As shown, the lane and corresponding trajectory of vehicle 100 are obtained from the current GNSS positioning, while the lane where vehicle 200 should be is the correct lane. It can be seen from the diagram that, according to the current GNSS positioning information, the vehicle is traveling in the straight lane, but the GNSS trajectory indicates a right turn. Therefore, the vehicle should actually be in the right turn lane. Using vehicle-to-everything (V2X) map information, it can be determined that the straight lane is laterally offset to the right compared to the right turn lane, and the distance between the two lanes, i.e., the offset distance, is also obtained. Positioning is then calibrated based on the offset direction and distance to ensure the vehicle is positioned in the correct lane.

[0058] In some possible implementation manners, the step S4000 comprises: calculating the position compensation data according to the road information, the motion trajectory information, the Internet of Vehicles map information and historical compensation data, wherein the historical compensation data is one of the following: position compensation data obtained at a past time.

[0059] According to the position compensation data obtained after the lane information and the current lane information, the position compensation data can also be stored in the compensation database. It can be understood that after the position compensation data is obtained, the position compensation data can be stored in the compensation database and directly sent to the event triggering module for triggering of the scene event at the same time. The position compensation data can also be stored in the compensation database and then called by the event triggering module according to needs.

[0060] In some possible implementation manners, the position compensation data is obtained according to the road information, the motion trajectory information, the Internet of Vehicles map information and historical compensation data, comprising: calculating current compensation data according to the road information, the motion trajectory information and the Internet of Vehicles map information; and calculating the position compensation data according to the current compensation data and the historical compensation data. Further, the current compensation data and the historical compensation data are averaged to obtain average compensation data; and the position compensation data is determined according to the average compensation data.

[0061] In some possible implementation manners, the calibration of the vehicle position according to the position compensation data comprises: obtaining a plurality of position compensation data from the compensation database; averaging the plurality of position compensation data to obtain average position compensation data; and calibrating the vehicle position according to the average position compensation data.

[0062] In some possible implementation manners, it can be periodically determined whether the positioning calibration is needed, that is, whether the motion and the current lane match; and the generated compensation data is stored in the compensation database, and a plurality of compensation data can be stored in the compensation database. When the compensation data is needed for triggering of the V2X scene event, a plurality of compensation data in a time period close to the current time can be selected for averaging, so as to improve the compensation accuracy and reduce the error and interference factors.

[0063] In some possible implementation manners, the historical compensation data is obtained according to at least one of the following:

[0064] The historical compensation data within a time threshold is obtained according to the time threshold;

[0065] The historical compensation data within a distance threshold is obtained according to the distance threshold.

[0066] When the position compensation data is stored in the compensation database, the storage time of each position compensation data stored in the compensation database is recorded; in the case that the storage time exceeds a threshold, the corresponding position compensation data is deleted. For the position compensation data stored in the compensation database, it is judged whether the offset distance of the position compensation data exceeds a distance threshold; in the case that the distance threshold is exceeded, it can be confirmed that the position compensation data is an error caused by data error of GNSS, etc., which is not a normal positioning deviation within the range, and does not have reference value, and can be deleted.

[0067] Optionally, when the position compensation data is stored in the compensation database, the corresponding data is labeled with the storage time, and the existence time of the corresponding position compensation data in the compensation database can be obtained according to the time label. It can be understood that the storage time of the position compensation data in the compensation database can also be recorded and obtained by any other suitable method, which is not limited in the present application.

[0068] With the passage of time, the navigation information of GNSS will also change, and after a period of time, the GNSS positioning accuracy may no longer be offset, or the offset direction and offset distance may change. Therefore, by deleting the data in the compensation database whose existence time exceeds the threshold, the timeliness of the position compensation data can be ensured, and the demand of the compensation database for memory can be reduced.

[0069] In some possible embodiments, the position compensation data is obtained according to road information, motion trajectory information and vehicle networking map information, including: the position compensation data is obtained according to road information, motion trajectory information, vehicle networking map information and user feedback information.

[0070] When the positioning deviation needs to be calibrated, user feedback information such as what is the correct lane of the current driving and the current driving state can also be received, user feedback position data is obtained, and the positioning is calibrated in combination with the user feedback position data, so that the position compensation data obtained is more accurate and the error is reduced. It can be understood that the user feedback information can be obtained by initiating interaction with the user by the system, or the user can actively feedback when finding that the positioning deviates.

[0071] In some possible embodiments, in the case that the user feedback position compensation data is accurate, the confidence of the corresponding position compensation data is increased; in the case that the user feedback position compensation data is incorrect, the confidence of the corresponding position compensation data is reduced.

[0072] In the case of lane deviation, the user reminder information is generated according to the should-be-in-lane information, and the user is reminded through the UI interface. For example, the current driving trajectory is left turning, the should-be-in-lane information is a left turning lane, and after the system generates the user reminder information according to the should-be-in-lane information, the vehicle-mounted tablet displays, for example, “Are you turning left in the left turning lane?”.

[0073] If the user feedback is “yes”, the confidence of the corresponding position compensation data is increased; if the user feedback is “no”, the confidence of the corresponding position compensation data is decreased. According to the confidence, the position compensation data with high confidence is preferred for calibration or event triggering, thereby reducing errors and improving the accuracy of calibration.

[0074] Alternatively, the user can respond to the user reminder information through voice feedback or selection and click on the UI interface for interaction; the above interaction means are exemplary and are not specifically limited in the application.

[0075] Figure 4 FIG. 1 is a flowchart of a positioning deviation correction algorithm for Internet of Vehicles provided by an embodiment of the present application. As shown in FIG. 1, Figure 4

[0076] The V2X scene data thread collects GNSS data and V2X map data into corresponding database queues; the V2X map data includes lane-level high-precision map data.

[0077] The deviation correction thread monitors the database in real time, and can obtain the driving direction of the positioning lane of the current vehicle according to the GNSS data and the V2X map data, and obtain the motion trajectory of the vehicle, such as straight driving, left turning, right turning, and U-turn, according to the historical data of the GNSS.

[0078] The deviation correction thread confirms the correct lane from the V2X map according to the motion trajectory of the vehicle in the case where the motion trajectory of the vehicle through the intersection and the driving direction of the lane do not match, and performs position calibration according to the correct lane and the offset direction and distance of the current vehicle positioning lane, records the compensation direction and distance, and writes them into the GNSS compensation database. In the case where the motion trajectory of the vehicle through the intersection and the driving direction of the lane match, it is judged that the lane positioned by the GNSS is accurate, and compensation is not needed. At this time, the V2X scene thread triggers a lane-level event according to the corresponding GNSS data and V2X map data.

[0079] The GNSS compensation database collects compensation data of at least one GNSS, and discards compensation data whose time-to-live exceeds a threshold, such as compensation data exceeding 2 hours.

[0080] ​The V2X scene thread obtains corresponding GNSS data, map data and compensation data from the V2X map database and the GNSS database and the GNSS compensation database, and correctly triggers the related lane-level events according to the GNSS data, the map data and the compensation data. If there are multiple GNSS compensation data, the data can be summarized and averaged to improve the compensation accuracy and reduce error and interference factors.

[0081] Figure 5 is a structural schematic diagram of a positioning device provided by an embodiment of the present application. As shown in Figure 5 The precise positioning device provided by the embodiment of the present application can execute the precise positioning method provided by the embodiment of the present application, and has the corresponding function modules and technical effects of the execution method. The device can be realized by software, hardware or a combination of software and hardware, and includes an acquisition module 300, a processing module 400 and a calibration module 500.

[0082] The acquisition module 300 is configured to acquire navigation information and vehicle networking map information.

[0083] The processing module 400 is configured to at least one of the following: obtaining road information according to the navigation information and the vehicle networking map information; obtaining motion trajectory information according to the navigation information.

[0084] The positioning module 500 is configured to obtain positioning information according to the road information, the motion trajectory information, the navigation information and the vehicle networking map information.

[0085] In some possible implementation manners, the processing module 400 is further configured to: confirm lane driving direction information according to the road information; and confirm vehicle driving direction information according to the motion trajectory information. The positioning module 500 is further configured to: compare the lane driving direction and the vehicle driving direction, and calibrate the position of the vehicle according to the vehicle networking map information in the case that the lane driving direction and the vehicle driving direction do not match.

[0086] In some possible implementation manners, the positioning device further has a compensation storage module, and the compensation storage module is configured to store the position compensation information generated by the positioning module 500.

[0087] In some possible implementation manners, the positioning device further has an interaction module, and the interaction module is configured to: generate user reminding information according to the lane information; increase the confidence of the corresponding position compensation data in the case that user confirmation of the user reminding information is received; and reduce the confidence of the corresponding position compensation data in the case that user denial of the user reminding information is received.

[0088] Figure 6 is a structural schematic diagram of a positioning calibration device provided by an embodiment of the present application. As shown in Figure 6As shown, the positioning calibration device provided by the embodiments of the present application can execute the positioning calibration method provided by the embodiments of the present application, and has the corresponding function modules and technical effects of the execution method. The device can be realized by software, hardware or a combination of software and hardware, and includes an acquisition module 600, a processing module 700 and a compensation module 800.

[0089] The acquisition module 600 is configured to at least one of the following: acquire geographic position information, and acquire vehicle networking map information, wherein the geographic position information is obtained through a global navigation satellite system; and acquire motion trajectory information, wherein the motion trajectory information is obtained through a global navigation satellite system.

[0090] The processing module 700 is configured to obtain road information according to the geographic position information and the vehicle networking information.

[0091] The compensation module 800 is configured to obtain position compensation information according to the road information and the motion trajectory information.

[0092] In some possible embodiments, the processing module 700 is further configured to: confirm lane driving direction information according to the road information; and confirm vehicle driving direction information according to the motion trajectory information. The compensation module 800 is further configured to: compare the lane driving direction and the vehicle driving direction, and calibrate the position of the vehicle according to the vehicle networking map information in a case where the lane driving direction and the vehicle driving direction do not match.

[0093] In some possible embodiments, the positioning calibration device further has a compensation storage module, and the compensation storage module is configured to store the position compensation information generated by the compensation module 800.

[0094] In some possible embodiments, the positioning calibration device further has an interaction module, and the interaction module is configured to: generate user prompt information according to the lane information; increase the confidence of corresponding position compensation data in a case where user confirmation of the user prompt information is received; and reduce the confidence of corresponding position compensation data in a case where user denial of the user prompt information is received.

[0095] Figure 7 FIG. 1 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in the figure, the device includes a memory 1100, a processor 1200 and a communication device 1300. The number of the memory 1100 and the processor 1200 can be one or more, Figure 7 for example, one memory 1100 and one processor 1200 in the device; the memory 1100 and the processor 1200 in the device can be connected through a bus or other means, Figure 7 for example, through a bus in the connection. Figure 7

[0096] ​The memory 1100, as a computer readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules of the positioning calibration method provided by any embodiment of the present application. The processor 1200 implements the positioning calibration method described above by running the software programs, instructions and modules stored in the memory 1110.

[0097] The memory 1100 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required by at least one function. In addition, the memory 1100 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device or other non-volatile solid-state memory device. In some examples, the memory 1100 can further include a memory remotely arranged with respect to the processor 1200, which can be connected to the device through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0098] The communication device 1300 is arranged to perform information receiving and transmitting communication under the control of the processor 1200.

[0099] In an embodiment, the communication device 1300 includes a receiver 1310 and a transmitter 1320. The receiver 1310 is a module or a combination of devices for receiving data in an electronic device. The transmitter 1320 is a module or a combination of devices for transmitting data in an electronic device.

[0100] An embodiment of the present application also provides a computer readable storage medium storing computer executable instructions for executing the positioning calibration method provided by any embodiment of the present application.

[0101] The system architecture and application scenarios described in the embodiments of the present application are used to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that, with the evolution of system architecture and the appearance of new application scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0102] Those skilled in the art can understand that all or some steps in the above disclosed method, the functions of the functional modules / units in the system and the device can be implemented as software, firmware, hardware and their appropriate combinations.

[0103] In hardware implementations, the division of functionality between the functional modules / units referred to in the above description does not necessarily correspond to a division of physical components; for example, one physical component can have multiple functionalities, or one functionality or step can be performed by several physical components in cooperation. Certain physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software can be distributed on computer readable media, which can comprise computer storage media (or non-transitory media), and communication media (or transitory media). As is well known to those of ordinary skill in the art, the term computer storage media includes both volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Further, it should be appreciated by those skilled in the art that computer storage media generally can embody computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.

[0104] As used in this description, the terms "component," "module," "system," and the like are intended to refer to a computer-related entity, either hardware, firmware, a combination of hardware and software, software, or software in execution. For example, a component can be, but is not limited to being, a process running on a processor, a processor, an object, an executable, a thread of execution, a program, or a computer. By way of illustration, both an application running on a computing device and the computing device can be a component. One or more components can reside within a process or thread of execution and a component can be localized, either in whole or in part, in a single computer or distributed among two or more computers. In addition, these components can execute from various computer readable media having various data structures stored thereon. The components can communicate by way of local or remote processes such as in accordance with a signal having one or more data packets (e.g., data from one component interacting with another component in a local system, distributed system, or across a network such as the Internet with other systems via the signal).

[0105] Some embodiments of the present application are illustrated by way of example in the accompanying drawings and described in detail above, but the scope of the present application is not limited to the examples. Any modification, equivalent replacement and improvement made by those skilled in the art without departing from the scope and spirit of the present application shall fall within the scope of the present application.

Claims

1. A positioning calibration method, characterized in that, The method includes: Obtain vehicle navigation information and vehicle-to-everything (V2X) map information; Based on the acquired navigation information and the vehicle network map information, the road information corresponding to the vehicle's location is obtained, wherein the road information includes lane driving direction information; The vehicle's trajectory information is obtained based on the navigation information, wherein the trajectory information includes the vehicle's driving direction information; Based on the road information, the movement trajectory information, and the vehicle network map information, location compensation data is obtained; The step of obtaining location compensation data based on the road information, the motion trajectory information, and the vehicle network map information includes: obtaining first lane data from the vehicle network map information based on the lane driving direction information; obtaining second lane data from the vehicle network map information based on the vehicle driving direction information; and calculating location compensation data based on the first lane data and the second lane data.

2. The method according to claim 1, characterized in that, After obtaining the location compensation data based on the road information, the movement trajectory information, the navigation information, and the vehicle network map information, the process includes: The location information is obtained based on the location compensation data, the navigation information, and the vehicle network map information.

3. The method according to claim 1, characterized in that, The location compensation data includes at least one of the following: Directional data; distance data.

4. The method according to claim 1, characterized in that, The step of obtaining location compensation data based on the road information, the movement trajectory information, and the vehicle network map information includes: Based on the road information, the movement trajectory information, the vehicle network map information, and the historical compensation data, location compensation data is calculated, wherein the historical compensation data is one of the following: location compensation data obtained in the past.

5. The method according to claim 4, characterized in that, The step of obtaining location compensation data based on the road information, the movement trajectory information, the vehicle network map information, and historical compensation data includes: The current compensation data is calculated based on the road information, the movement trajectory information, and the vehicle network map information; The location compensation data is calculated based on the current compensation data and the historical compensation data.

6. The method according to claim 4, characterized in that, The step of obtaining location compensation data based on the current compensation data and the historical compensation data includes: The current compensation data and historical compensation data are summarized and averaged to obtain the average compensation data; Based on the average compensation data, confirm the location compensation data.

7. The method according to claim 4, characterized in that, The historical compensation data is obtained based on at least one of the following: Based on the time threshold, obtain historical compensation data that falls within the time threshold; Based on the distance threshold, obtain historical compensation data that falls within the distance threshold.

8. The method according to claim 1, characterized in that, The step of obtaining location compensation data based on the road information, the movement trajectory information, and the vehicle network map information includes: Location compensation data is calculated based on the road information, the movement trajectory information, the vehicle network map information, and the user feedback information.

9. The method according to claim 8, characterized in that, The method further includes: If user feedback indicates that the location compensation data is accurate, increase the confidence level of the corresponding location compensation data; If a user reports that the location compensation data is incorrect, the confidence level of the corresponding location compensation data will be reduced.

10. An electronic device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the positioning calibration method as described in any one of claims 1 to 9.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by the computer, implement the positioning calibration method as described in any one of claims 1 to 9.

Images