Methods for determining auxiliary positioning information, dead reckoning methods, and related products

Abstract

This disclosure discloses a method for determining auxiliary positioning information, a dead reckoning method, and related products. The method for determining auxiliary positioning information includes: matching a DR (Dead Reach) location with map data to obtain one or more candidate map matching points and their matching data, wherein the matching data includes at least: matching degree, matching location, and matching road segment; determining one candidate map matching point as the map matching point from the candidate map matching points; determining the distance between the map matching point and the divergence point; and generating map matching feedback information for correcting the DR location, wherein the map matching feedback information includes the distance between the map matching point and the divergence point and the matching data of at least one candidate map matching point. The generated map matching feedback information can improve the accuracy and rationality of DR location correction.

Description

Technical Field

[0001] This disclosure relates to the field of electronic map navigation technology, and in particular to methods for determining auxiliary positioning information, dead reckoning methods, and related products. Background Technology

[0002] Dead Reckoning (DR) calculates the relative position of the current device to the previous device based on raw signals from sensors such as gyroscopes, accelerometers, and vehicle speed pulses. The DR position is then determined based on the previous DR position. By matching the DR position with map data, the real-world location of the device equipped with these sensors can be obtained.

[0003] Since DR (Digital Recognition) calculations are relative position calculations, errors are prone to accumulate during the DR positioning process. In order to eliminate errors and improve positioning accuracy, it is necessary to add positioning auxiliary information during the DR positioning process to correct the DR positioning results. Summary of the Invention

[0004] In view of the above problems, this disclosure is made in order to provide a method for determining auxiliary positioning information, a dead reckoning method, and related products to overcome or at least partially solve the above problems.

[0005] In a first aspect, embodiments of this disclosure provide a method for determining auxiliary positioning information, including:

[0006] Matching a DR location with map data yields one or more candidate map matching points and their matching data. The matching data includes at least: matching degree, matching location, and matching road segment.

[0007] From the candidate map matching points, select one candidate map matching point as the map matching point;

[0008] Determine the distance between a map matching point and a branch point, wherein a road segment connected by the branch point allows entry into or exit from the matching road segment of the map matching point;

[0009] Generate map matching feedback information for correcting the DR positioning location. The map matching feedback information includes the distance between the map matching point and the divergence point and the matching data of at least one candidate map matching point.

[0010] Secondly, embodiments of this disclosure provide a dead reckoning method, including:

[0011] Determine whether the distance between the map matching point and the divergence point in the received map matching feedback information is less than a first preset distance;

[0012] If so, correct the DR positioning position based on the location of the map matching point;

[0013] If not, the DR positioning position is corrected based on the DR positioning position correction result of the previous moment and the matching data of at least one candidate map matching point in the feedback information.

[0014] Thirdly, this disclosure provides a computer program product with navigation function, including a computer program / instruction, wherein when the computer program / instruction is executed by a processor, it implements the above-mentioned method for determining auxiliary positioning information or the above-mentioned dead reckoning method.

[0015] The beneficial effects of the above-described technical solutions provided in this disclosure include at least the following:

[0016] (1) The method for determining auxiliary positioning information provided in this embodiment of the present disclosure matches a DR positioning location with map data to obtain more than one candidate map matching point and its matching data. The matching data includes at least: matching degree, matching location and matching road segment; from the candidate map matching points, a candidate map matching point is determined as a map matching point; the distance between the map matching point and the divergence point is determined; map matching feedback information for correcting the DR positioning location is generated. The map matching feedback information includes the distance between the map matching point and the divergence point and the matching data of at least one candidate map matching point. Because the map matching points obtained by matching the DR location with map data may have errors, especially at intersections, the digitized linear road data in the map data may differ from the actual road shape. Therefore, the map matching points near intersections may be incorrect. However, the feedback information includes the distance between the map matching point and the intersection, as well as information on other candidate map matching points. This allows the map matching points to be used cautiously to correct the DR location when the distance between the map matching point and the intersection is small, i.e., near intersections. At the same time, by referring to other candidate map matching point information, the impact of inaccurate map matching points on DR correction is reduced, thereby improving the accuracy and rationality of DR location correction.

[0017] (2) The map matching feedback information provides multiple candidate map matching point information, which provides richer and more reasonable feedback information for DR positioning correction. It can combine multiple location information to determine the most reasonable reference position, rather than directly using the position of a single map matching point, making DR position correction more accurate.

[0018] Other features and advantages of this disclosure will be set forth in the following description and will be apparent in part from the description or may be learned by practicing the disclosure. The objects and other advantages of this disclosure may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0019] The technical solutions of this disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the embodiments of the present disclosure to explain the disclosure and do not constitute a limitation thereof. In the drawings:

[0021] Figure 1 A working example diagram of a dead reckoning system;

[0022] Figure 2 This is a flowchart of the method for determining auxiliary positioning information in Embodiment 1 of this disclosure;

[0023] Figure 3 This is a flowchart illustrating the specific implementation of the method for determining the distance between map matching points and divergence points in Embodiment 2 of this disclosure;

[0024] Figure 4A This is an example diagram of the downstream branching point in Embodiment 2 of this disclosure;

[0025] Figure 4B This is an example diagram of another downstream branch point in Embodiment 2 of this disclosure;

[0026] Figure 4C This is an example diagram of the upstream branching point in Embodiment 2 of this disclosure;

[0027] Figure 4D This is an example diagram of another upstream branch point in Embodiment 2 of this disclosure;

[0028] Figure 5 This is a flowchart illustrating the specific implementation of the auxiliary positioning information determination method in Embodiment 3 of this disclosure;

[0029] Figure 6 This is an example diagram of the map matching point determination method in Embodiment 3 of this disclosure;

[0030] Figure 7 This is an example diagram of map matching feedback information in Embodiment 3 of this disclosure;

[0031] Figure 8 This is a flowchart of the dead reckoning method in Embodiment 4 of this disclosure;

[0032] Figure 9 This is a flowchart illustrating the specific implementation of the new map matching point determination method in Embodiment 4 of this disclosure;

[0033] Figure 10 This is an example diagram of dead reckoning in Embodiment 4 of this disclosure;

[0034] Figure 11A structural example diagram of the device for determining map matching feedback information disclosed herein;

[0035] Figure 12 This is a structural example diagram of the dead reckoning device disclosed herein. Detailed Implementation

[0036] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0037] The inventors discovered that, especially when the map matching point is close to the road fork, the map matching point is often an incorrect matching point. If only the map matching point of the DR positioning location is used as positioning auxiliary information to correct the DR positioning result, it is easy to make the correction error and cannot solve the problem of DR positioning error well.

[0038] To address the problem that direct use of map matching points provided in map matching feedback information for DR positioning correction in existing technologies is prone to errors, this disclosure provides a method for determining auxiliary positioning information, a dead reckoning method, and related products, which can improve the accuracy and rationality of DR position correction.

[0039] Reference Figure 1 The diagram shows an example of the dead reckoning system's operation. The DR module calculates the DR positioning position based on the received raw positioning signals from sensors such as gyroscopes, accelerometers, and vehicle speed pulses. Since the DR positioning position determined from the raw positioning signals often does not match the road data, it is necessary to determine the most suitable map matching point located on the actual road segment. This process is called map matching. The map matching module matches the DR positioning position with the map data, and the obtained map matching feedback information includes information on at least one candidate map matching point (including the map matching point). Since DR positioning is a relative position calculation, it determines the current DR positioning position based on the DR corrected position at the previous moment and the currently calculated relative position. Therefore, sending the map matching feedback information to the DR module allows the DR module to correct the current DR positioning position, avoiding the accumulation of subsequent positioning errors and improving positioning accuracy. At the same time, the current position of the vehicle is determined based on the map matching point obtained from map matching, and the vehicle logo information is output.

[0040] Example 1

[0041] Embodiment 1 of this disclosure provides a method for determining auxiliary positioning information, the process of which is as follows: Figure 2 As shown, it includes the following steps:

[0042] Step S21: Match a DR location with map data to obtain more than one candidate map matching point and its matching data.

[0043] In the process of matching DR location with map data, multiple candidate map matching points are often identified first, and then the map matching point is determined from the multiple candidate map matching points.

[0044] Matching data for candidate map matching points can include at least: matching degree, matching location, and matching road segment.

[0045] The matching location of the candidate map matching point is its coordinates, which can be latitude and longitude values, i.e., its position on the map.

[0046] In addition to the above information, the matching data may also include: the angle information of the matching road segment, that is, the road orientation of the matching road segment, specifically the orientation of the line connecting the candidate map matching point and the next road shape point along the road's direction of travel, or the angle with a preset direction; the slope of the matching road segment, specifically the slope of the line connecting the candidate map matching point and the next road shape point along the road's direction of travel; and the road information of the matching road segment, such as the road type of the matching road segment, including tunnel or non-tunnel, expressway or ordinary road, main road or auxiliary road, etc., and the road width of the matching road segment, etc.

[0047] Step S22: From the candidate map matching points, determine one candidate map matching point as the map matching point.

[0048] After obtaining at least one candidate map matching point by matching the DR positioning location with map data in step S21 above, it is possible to specify which candidate map matching point is the map matching point among multiple candidate map matching points; alternatively, if no specific candidate map matching point is specified, the candidate map matching point with the highest matching degree can be determined as the map matching point. Specifically, if a map matching point is specified, the matching degree of the map matching point is also the highest among all candidate map matching points (if the matching degree of the map matching point is not the highest among all candidate map matching points, the matching degree of the map matching point needs to be corrected to the highest before proceeding with subsequent steps, as detailed later).

[0049] Step S23: Determine the distance between the map matching point and the divergence point.

[0050] Specifically, the road segments connected by the divergence point can be used to enter or exit the matching road segments of the map matching point. That is, the divergence point is the branching point of the road segment on the matching road segment that is adjacent to the map matching point.

[0051] The divergence points include upstream divergence points and downstream divergence points. In one embodiment, determining the distance between a map matching point and a divergence point may include: determining a downstream divergence point along the direction of the matching road segment exiting the map matching point; determining an upstream divergence point along the direction of the matching road segment entering the map matching point; and determining the distance between the map matching point and the divergence point based on the road segment lengths between the map matching point and the upstream divergence point and the road segment lengths between the map matching point and the downstream divergence point.

[0052] Alternatively, one can determine the minimum of the road segment lengths between the map matching point and the upstream branch point, and between the map matching point and the downstream branch point, and use this minimum value as the distance between the map matching point and the branch point; or one can determine the road segment lengths between the map matching point and the upstream branch point separately, and use both the road segment lengths between the map matching point and the downstream branch point as the distance between the map matching point and the downstream branch point.

[0053] In one embodiment, determining the downstream branch point may specifically include: starting from the matching road segment of the map matching point, searching for branch points along the road travel direction based on the road segment topology in the map data, and taking the first found branch point as the downstream branch point. The branch point connects at least two road segments outside the matching road segment. The matching road segment allows direct or indirect access to other road segments connected by the branch point.

[0054] In one embodiment, determining the upstream branch point may specifically include: starting from the matching road segment of the map matching point, searching for branch points in the opposite direction of the road travel direction based on the road segment topology in the map data, and taking the first found branch point as the upstream branch point. The branch point connects at least two road segments outside the matching road segment. Other road segments connected by the branch point can directly or indirectly enter the matching road segment.

[0055] Step S24: Generate map matching feedback information for correcting the DR positioning location.

[0056] The map matching feedback information mentioned above includes the distance between the map matching point and the divergence point, and the matching data of at least one candidate map matching point.

[0057] The method for determining auxiliary positioning information provided in Embodiment 1 of this disclosure matches a DR positioning location with map data to obtain one or more candidate map matching points and their matching data. The matching data includes at least: matching degree, matching location, and matching road segment; from the candidate map matching points, a candidate map matching point is determined as the map matching point; the distance between the map matching point and the divergence point is determined; and map matching feedback information for correcting the DR positioning location is generated. The map matching feedback information includes the distance between the map matching point and the divergence point and the matching data of at least one candidate map matching point. Because the map matching points obtained by matching the DR location with map data may have errors, especially at intersections, the digitized linear road data in the map data may differ from the actual road shape. Therefore, the map matching points near intersections may be incorrect. However, the feedback information includes the distance between the map matching point and the intersection, as well as information on other candidate map matching points. This allows the map matching points to be used cautiously to correct the DR location when the distance between the map matching point and the intersection is small, i.e., near intersections. At the same time, by referring to other candidate map matching point information, the impact of inaccurate map matching points on DR correction is reduced, thereby improving the accuracy and rationality of DR location correction.

[0058] The map matching feedback information provides multiple candidate map matching point information, which provides richer and more reasonable feedback information for DR positioning correction. It can combine multiple location information to determine the most reasonable reference position, rather than directly using the position of a single map matching point, making DR position correction more accurate.

[0059] Example 2

[0060] Embodiment 2 of this disclosure provides a method for determining the distance between map matching points and divergence points, the process of which is as follows: Figure 3 As shown, it includes the following steps:

[0061] Step S31: Based on the road segment topology in the map data, determine the accessible road segments along the road travel direction.

[0062] Starting from the matched road segment, that is, at the beginning, the matched road segment is taken as the current road segment, and step S31 is executed; if the determined drivable road segment is unique, and the drivable road segment is not a drivable road segment of other road segments, but only a drivable road segment of the current road segment, that is, if subsequent steps S32 and S33 are both determined to be negative, the drivable road segment is taken as the current road segment, and step S31 is executed again.

[0063] Step S32: Determine whether there is more than one accessible road segment.

[0064] If the judgment is negative, proceed to step S33; if the judgment is positive, proceed to step S34.

[0065] Reference Figure 4A As shown, the drivable road segments of the matching road segment A of the map matching point are road segment B and road segment C. At this time, there is more than one drivable road segment, that is, the out-degree of the current road segment is greater than 1. Then step S34 can be executed to determine the connection point between road segment A and the drivable road segments (road segment B and road segment C) as the downstream branch point.

[0066] Step S33: Determine whether the accessible road segment is an accessible road segment of other road segments.

[0067] If the determination is negative, take the accessible road segment as the current road segment and continue to execute step S31 to determine the accessible road segment of the current road segment along the road travel direction; if the determination is positive, execute step S34.

[0068] Reference Figure 4B As shown, the accessible road segment of the matching road segment D of the map matching point is road segment F. Although the current road segment has only one accessible road segment, there is also a road segment E whose accessible road segment is road segment F. That is, road segment E and the current road segment (road segment D) have a common accessible road segment F. Therefore, step S34 is executed to determine the connection point between road segment D and the accessible road segment (road segment F) as the downstream branch point.

[0069] Step S34: Determine the connection point between the matched road segment and the drivable road segment as the downstream divergence point.

[0070] Step S35: Based on the road segment topology in the map data, determine the road segment that can be entered into the current road segment in the opposite direction of the road travel direction.

[0071] Starting from the matching road segment of the map matching point, that is, at the beginning, the matching road segment is taken as the current road segment, and step S35 is executed; if the determined road segment that can enter the current road segment is unique, and there is no other road segment that can enter the current road segment, that is, if subsequent steps S36 and S37 are both determined to be no, the road segment that can enter the current road segment is taken as the current road segment, and step S35 is executed again.

[0072] Step S36: Determine whether there is more than one road segment that can be entered into the current road segment.

[0073] If the determination is negative, proceed to step S37; if the determination is positive, proceed to step S38.

[0074] Reference Figure 4CAs shown, in the opposite direction of the road's forward direction, there are road segments D and E that can enter the matching road segment F. At this time, there is more than one road segment that can enter the matching road segment F, that is, the in-degree of the current road segment is greater than 1. Then, step S38 can be executed to determine the connection point between road segment F and the road segments (road segments D and road segments E) that can enter road segment F as the upstream branch point.

[0075] The out-degree of a road segment refers to the number of road segments directly connected downstream of a given road segment; the in-degree of a road segment refers to the number of road segments directly connected upstream of a given road segment.

[0076] Step S37: Determine whether there are other road segments that can be entered into the current road segment.

[0077] If the determination is negative, the current road segment is the one that can be entered, and step S35 is executed; if the determination is positive, step S38 is executed.

[0078] Reference Figure 4D As shown, the road segment that can be driven into matching road segment B is road segment A. Although there is only one road segment that can be driven into the current road segment (matching road segment B), there is also road segment C that can be driven into road segment A (the road segment that can be driven into the current road segment) in the opposite direction of the road's forward direction. Therefore, step S38 is executed to determine the connection point between road segment B and the road segment (road segment A) that can be driven into road segment B as the upstream branch point. Figure 4A , Figure 4B , Figure 4C and Figure 4D The arrow in the diagram indicates the direction of travel for that road segment.

[0079] Step S38: Determine the connection point between the current road segment and the road segment that can be driven into the current road segment as the upstream divergence point.

[0080] You can execute steps S31 to S34 first, and then execute steps S35 to S38; or you can execute steps S35 to S38 first, and then execute steps S31 to S34; or you can execute both at the same time, that is, start determining the downstream branch point and the upstream branch point at the same time, until the downstream branch point and the upstream branch point are both determined.

[0081] Step S39: Determine the minimum of the road segment lengths between the map matching point and the upstream divergence point and between the map matching point and the downstream divergence point as the distance between the map matching point and the divergence point.

[0082] Example 3

[0083] Embodiment 3 of this disclosure provides a specific implementation of a method for determining auxiliary positioning information, the process of which is as follows: Figure 5As shown, it includes the following steps:

[0084] Step S501: Match a DR location with map data to obtain one or more candidate map matching points and their matching data.

[0085] Step S502: From the candidate map matching points, determine one candidate map matching point as the map matching point.

[0086] Step S503: Determine whether the matching degree of the map matching point is higher than the matching degree of other candidate map matching points.

[0087] If yes, proceed to step S505; otherwise, proceed to step S504.

[0088] Step S54: Adjust the matching degree of map matching points according to the set rules to make the matching degree of map matching points the highest.

[0089] You can set the matching degree of a map matching point to the highest matching degree among all candidate map matching points plus a set value, such as adding 1 or other values.

[0090] Because the matching degree determined during map matching is primarily based on DR positioning, the projection of the DR positioning into the map data, and the distance and angle differences between roads in the map data, it has general applicability but lacks analysis of specific real-world situations, potentially leading to errors in the determined matching degree. Therefore, the determination of map matching points is not based on directly identifying the candidate map matching point with the highest matching degree, but rather on a decision-making process. This decision-making process mainly includes: main and auxiliary road processing, slope identification, and personalized processing based on user needs, which can solve problems that matching degree alone cannot address. (Refer to...) Figure 6 As shown, during the map matching process, after determining the matching degree of each candidate map matching point based on the DR positioning location and map data, a decision-making process is then performed to determine the final map matching point.

[0091] Therefore, the map matching points determined after decision processing are more reasonable, but this also means that the matching degree of the map matching points may not be the highest among all candidate map matching points. Correcting the matching degree of the map matching points to the highest value increases the practicality of the final determined map matching feedback information.

[0092] Step S505: Delete candidate map matching points and their matching data that have a matching degree less than the set matching degree threshold.

[0093] Step S506: Merge the candidate map matching points according to the set rules based on the matching data of the candidate map matching points.

[0094] In one embodiment, it may include: if the matching road segment of one candidate map matching point is directly connected to the matching road segment of another candidate map matching point, and there is no divergence point between the two candidate map matching points, then the two candidate map matching points are grouped together; for the candidate map matching points in the same group, the matching data of the candidate map matching point with the highest matching degree is retained, and the matching degree in the matching data is replaced with the sum of the matching degrees of all candidate map matching points in the group.

[0095] Step S507: Normalize the matching degree of each candidate map matching point so that the sum of the matching degrees of each candidate map matching point is 1.

[0096] Before normalizing the matching degree of each candidate map matching point (including map matching points), it may also include determining whether the number of candidate map matching points (including matching points) exceeds a preset number. If so, delete candidate map matching points with low matching degree until the number of remaining candidate map matching points does not exceed the preset number.

[0097] Steps S503 to S507 preprocess at least one candidate map matching point and its matching data. Subsequent steps generate map matching feedback information for the preprocessed candidate map matching point and its matching data.

[0098] Step S508: Determine the distance between the map matching point and the divergence point based on the matching location of the map matching point and the map data.

[0099] Step S509: Fill in the common header information.

[0100] Reference Figure 7 As shown, the common header information of map matching feedback information may include timestamp, number of valid feedback nodes, distance between the matching point and the preceding and following divergence points, and whether the current area is flat or not.

[0101] The timestamp is the timestamp of the entire generated map matching feedback information, corresponding to the timestamp of the DR positioning result, and is used to match the DR positioning result and the map matching feedback information; the number of valid feedback nodes is the number of all candidate map matching points remaining after filtering, including map matching points; the distance between the map matching point and the upstream and downstream divergence points refers to the distance between the map matching point and the upstream divergence point and the distance between the map matching point and the downstream divergence point; whether the current area is flat is determined by whether the road segments within the set range before and after the matching point on the matching road segment of the map matching point are flat.

[0102] Step S510: Fill in the information for each feedback node.

[0103] Based on the matching data of the processed candidate map matching points, the information of each feedback node is filled in sequentially according to the matching degree from high to low, referring to... Figure 7 As shown, the feedback node information may include the matching location coordinates, matching degree, matching road (angle, slope, and road information of the matching road) of the candidate map matching point.

[0104] The matching location of the map matching point is the location of the projection point (usually orthographic projection) of the map matching point in the map data; other information can be found in the above description.

[0105] The public header information and the information of each feedback node constitute the map matching feedback information.

[0106] Example 4

[0107] Embodiment 4 of this disclosure provides a dead reckoning method, the process of which is as follows: Figure 8 As shown, it includes the following steps:

[0108] Step S81: Determine whether the distance between the map matching point and the divergence point in the received map matching feedback information is less than the first preset distance.

[0109] If the determination is yes, proceed to step S82; if the determination is no, proceed to step S83.

[0110] Step S82: Correct the DR positioning position based on the matching position of the map matching point.

[0111] If the distance between the map matching point and the divergence point in the received map matching feedback information is less than the first preset distance, it indicates that the map matching point has high reliability. The DR positioning position can be corrected according to the matching position of the map matching point.

[0112] In one embodiment, before correcting the DR positioning position based on the matching position of the map matching point, the process may further include performing step S82 if at least one of the following conditions is met:

[0113] Determine whether the distance between the projection point of the DR positioning location in the map data and the map matching point is less than a second preset distance;

[0114] Determine whether the distance between the GNSS positioning location corresponding to the DR positioning location and the map matching point is less than the third preset distance.

[0115] If any one or both of the above criteria are met, the credibility of the map matching point is further verified, and step S82 is executed to make the correction of the DR positioning position more accurate and reasonable.

[0116] Step S83: Correct the DR positioning position based on the DR positioning position correction result of the previous moment and the matching data of at least one candidate map matching point in the feedback information.

[0117] If the distance between the matching point and the divergence point in the received map matching feedback information is not less than the first preset distance, it indicates that the map matching point is likely to deviate from the actual location in the real world. It is necessary to correct the DR positioning position based on the DR positioning position correction result of the previous moment and the matching data of the candidate map matching points in the feedback information.

[0118] In one embodiment, refer to Figure 9 As shown, step S83 may further include the following steps:

[0119] Step S831: Determine a new map matching point based on the matching data of at least one candidate map matching point in the DR positioning correction result and feedback information from the previous moment.

[0120] Specifically, this may include identifying candidate map matching points that meet at least one of the following conditions as new map matching points:

[0121] The matching degree of the candidate map matching points is greater than the set matching degree threshold;

[0122] The angle matching between the road segment where the DR location was located at the previous moment and the matching road segment of the candidate map matching point;

[0123] The slope matching of the road segment where the DR location was located at the previous moment with the matching road segment of the candidate map matching point;

[0124] The road information of the road segment where the DR location is located at the previous moment is matched with the road segment of the candidate map matching point.

[0125] Step S832: Correct the DR positioning position according to the matching position of the new map matching point, or correct the DR positioning position according to the matching position of the new map matching point and the corresponding GNSS positioning position.

[0126] Reference Figure 10 As shown, the DR positioning position determined by the DR fusion signal is projected onto the map data at the edge of the road segment. The final vehicle logo matching position, i.e. the map matching point, is located in the middle of the same road segment, and the matching degree is 0.695621, which is higher than the matching degree of other feedback nodes, and the other feedback nodes are all located in other road segments.

[0127] Based on the inventive concept of this disclosure, embodiments of this disclosure also provide a device for determining auxiliary positioning information, the structure of which is as follows: Figure 11 As shown, it includes:

[0128] Matching module 111 is used to match a DR positioning location with map data to obtain more than one candidate map matching point and its matching data. The matching data includes at least: matching degree, matching location and matching road segment.

[0129] The first determining module 112 is used to determine a candidate map matching point as a map matching point from the candidate map matching points;

[0130] The second determining module 113 is used to determine the distance between the map matching point and the divergence point, wherein the road segment connected by the divergence point can be driven into or out of the matching road segment of the map matching point.

[0131] The generation module 114 is used to generate map matching feedback information for correcting the DR positioning location. The map matching feedback information includes the distance between the map matching point and the divergence point and the matching data of at least one candidate map matching point.

[0132] In one embodiment, the divergence points include: an upstream divergence point and a downstream divergence point. The second determining module 113, which determines the distance between the map matching point and the divergence point, is specifically used for:

[0133] Determine a downstream branch point along the direction of the matching road segment that exits the map matching point; determine an upstream branch point along the direction of the matching road segment that enters the map matching point; determine the distance between the map matching point and the branch point based on the road segment lengths between the map matching point and the upstream branch point and between the map matching point and the downstream branch point.

[0134] In one embodiment, the second determining module 113, which determines a downstream branch point along the direction of the matching road segment exiting the map matching point, is specifically used for:

[0135] Starting from the matching road segment of the map matching point, according to the road segment topology in the map data, the branching point is searched along the road forward direction. The first branching point found is taken as the downstream branching point. The branching point connects at least two road segments outside the matching road segment.

[0136] In one embodiment, the second determining module 113, which determines an upstream branch point along the direction of the matching road segment exiting the map matching point, is specifically used for:

[0137] Starting from the matching road segment of the map matching point, according to the road segment topology in the map data, the branch point is searched in the opposite direction of the road's forward direction. The first branch point found is taken as the upstream branch point. The branch point connects at least two road segments outside the matching road segment.

[0138] In one embodiment, the device for determining the auxiliary positioning information further includes a preprocessing module 115;

[0139] After the matching module 111 obtains one or more candidate map matching points and their matching data, the preprocessing module 115 is used to delete candidate map matching points and their matching data whose matching degree is less than a set matching degree threshold; and / or, to merge candidate map matching points according to a set rule based on the matching data of the candidate map matching points.

[0140] In one embodiment, the preprocessing module 115, which merges candidate map matching points according to a set rule based on the matching data of candidate map matching points, is specifically used for:

[0141] If the matching road segment of one candidate map matching point is directly connected to the matching road segment of another candidate map matching point, and there is no divergence point between the two candidate map matching points, the two candidate map matching points are divided into a group; for the candidate map matching points in the same group, the matching data of the candidate map matching point with the highest matching degree is retained, and the matching degree in the matching data is replaced with the sum of the matching degrees of all candidate map matching points in the group.

[0142] Based on the inventive concept of this disclosure, embodiments of this disclosure also provide a dead reckoning device, the structure of which is as follows: Figure 12 As shown, it includes a judgment module 121 and a correction module 122;

[0143] The judgment module 121 is used to determine whether the distance between the map matching point and the divergence point in the received map matching feedback information is less than a first preset distance;

[0144] When the judgment module 121 determines that it is yes, the correction module 122 is used to correct the DR positioning position according to the matching position of the map matching point; when the judgment module 121 determines that it is no, the correction module 122 is used to correct the DR positioning position according to the DR positioning position correction result of the previous moment and the matching data of at least one candidate map matching point in the feedback information.

[0145] In one embodiment, the correction module 122, which corrects the DR positioning position based on the DR positioning position correction result of the previous moment and the matching data of at least one candidate map matching point in the feedback information, is specifically used for:

[0146] Based on the DR positioning correction result of the previous moment and the matching data of at least one candidate map matching point in the feedback information, a new map matching point is determined; the DR positioning position is corrected based on the matching position of the new map matching point, or the DR positioning position is corrected based on the matching position of the new map matching point and the corresponding GNSS positioning position.

[0147] In one embodiment, the correction module 122, which determines a new map matching point based on the DR positioning correction result of the previous moment and the matching data of at least one candidate map matching point in the feedback information, is specifically used to determine a candidate map matching point that satisfies at least one of the following conditions as a new map matching point:

[0148] The matching degree of the candidate map matching points is greater than the set matching degree threshold;

[0149] The angle matching between the road segment where the DR location was located at the previous moment and the matching road segment of the candidate map matching point;

[0150] The slope matching of the road segment where the DR location was located at the previous moment with the matching road segment of the candidate map matching point;

[0151] The road information of the road segment where the DR location is located at the previous moment is matched with the road segment of the candidate map matching point.

[0152] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0153] Based on the inventive concept of this disclosure, embodiments of this disclosure also provide a computer program product with navigation function, including a computer program / instruction, wherein when the computer program / instruction is executed by a processor, it implements the above-mentioned method for determining auxiliary positioning information or the above-mentioned dead reckoning method.

[0154] Based on the inventive concept of this disclosure, embodiments of this disclosure also provide a server, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the above-mentioned method for determining auxiliary positioning information or the above-mentioned dead reckoning method.

[0155] Unless otherwise specifically stated, terms such as processing, calculation, operation, determination, display, etc., may refer to the actions and / or processes of one or more processing or computing systems or similar devices that represent the manipulation and conversion of data representing physical (e.g., electronic) quantities within the registers or memory of the processing system into other data similarly representing physical quantities within the memory, registers, or other such information storage, transmission, or display devices of the processing system. Information and signals can be represented using any of a variety of different techniques and methods. For example, data, instructions, commands, information, signals, bits, symbols, and chips mentioned throughout the above description can be represented by voltage, current, electromagnetic waves, magnetic fields or particles, light fields or particles, or any combination thereof.

[0156] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process may be rearranged without departing from the scope of this disclosure. The appended method claims provide elements of various steps in an exemplary order and are not intended to limit the scope to the specific order or hierarchy described.

[0157] In the above detailed description, various features are combined together in a single embodiment to simplify this disclosure. This approach to disclosure should not be construed as reflecting an intention that embodiments of the claimed subject matter require more features than are explicitly stated in each claim. Rather, as reflected in the appended claims, this disclosure is in a state of having fewer features than all of the features of a single disclosed embodiment. Therefore, the appended claims are hereby explicitly incorporated into the detailed description, with each claim representing a separate preferred embodiment of this disclosure.

[0158] Those skilled in the art will also understand that the various illustrative logic blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments herein can be implemented as electronic hardware, computer software, or a combination thereof. To clearly illustrate the interchangeability between hardware and software, the various illustrative components, blocks, modules, circuits, and steps described above are generally described in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. Those skilled in the art can implement the described functionality in alternative ways for each specific application; however, such implementation decisions should not be construed as departing from the scope of this disclosure.

[0159] The steps of the methods or algorithms described in conjunction with the embodiments herein can be directly embodied in hardware, software modules executed by a processor, or a combination thereof. The software modules can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium well known in the art. An exemplary storage medium is connected to the processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. The ASIC can reside in a user terminal. Alternatively, the processor and storage medium can exist as discrete components in the user terminal.

[0160] For software implementation, the techniques described in this application can be implemented using modules (e.g., procedures, functions, etc.) that perform the functions described in this application. This software code can be stored in memory units and executed by a processor. The memory units can be implemented within the processor or outside the processor; in the latter case, they are communicatively coupled to the processor via various means, as is well known in the art.

[0161] The foregoing description includes examples of one or more embodiments. It is certainly impossible to describe all possible combinations of components or methods in order to describe the above embodiments, but those skilled in the art will recognize that further combinations and arrangements of the various embodiments are possible. Therefore, the embodiments described herein are intended to cover all such changes, modifications, and variations that fall within the scope of the appended claims. Furthermore, the term “comprising” as used in the specification or claims is interpreted in a manner similar to the term “including,” as it is understood when used as a conjunction in the claims. Additionally, the use of any term “or” in the specification of the claims is intended to mean “non-exclusive or.” The terms “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

Claims

1. A method for determining auxiliary positioning information, wherein, include: Matching a DR location with map data yields one or more candidate map matching points and their matching data. The matching data includes at least: matching degree, matching location, and matching road segment. From the candidate map matching points, select one candidate map matching point as the map matching point; Determine the distance between a map matching point and a branch point, wherein a road segment connected by the branch point allows entry into or exit from the matching road segment of the map matching point; Generate map matching feedback information for correcting the DR positioning location. The map matching feedback information includes the distance between the map matching point and the divergence point and the matching data of at least one candidate map matching point.

2. The method as described in claim 1, wherein, The divergence points include: upstream divergence points and downstream divergence points. Determining the distance between the map matching point and the divergence points specifically includes: Determine a downstream branch point along the direction of the matching road segment that exits the map matching point; Determine an upstream branch point along the direction of the matching road segment leading to the map matching point; The distance between the map matching point and the divergence point is determined based on the road segment length between the map matching point and the upstream divergence point, and the road segment length between the map matching point and the downstream divergence point.

3. The method as described in claim 2, wherein, Determining a downstream branch point along the direction of the matched road segment exiting the map matching point specifically includes: Starting from the matching road segment of the map matching point, according to the road segment topology in the map data, the branching point is searched along the road forward direction. The first branching point found is taken as the downstream branching point. The branching point connects at least two road segments.

4. The method of claim 2, wherein, Determining an upstream branch point along the direction of the matching road segment entering the map matching point specifically includes: Starting from the matching road segment of the map matching point, according to the road segment topology in the map data, the branch point is searched in the opposite direction of the road's forward direction. The first branch point found is taken as the upstream branch point. The branch point connects at least two road segments outside the matching road segment.

5. The method of claim 1, wherein, After obtaining one or more candidate map matching points and their matching data, the process further includes: Delete candidate map matching points and their matching data that have a matching degree less than the set matching degree threshold; And / or, The candidate map matching points are merged according to the set rules based on the matching data of the candidate map matching points.

6. The method of claim 5, wherein, The step of merging candidate map matching points according to a set rule based on the matching data of the candidate map matching points specifically includes: If the matching road segment of one candidate map matching point is directly connected to the matching road segment of another candidate map matching point, and there is no divergence point between the two candidate map matching points, the two candidate map matching points are divided into a group. For candidate map matching points in the same group, retain the matching data of the candidate map matching point with the highest matching degree, and replace the matching degree in the matching data with the sum of the matching degrees of all candidate map matching points in the group.

7. A dead reckoning method, wherein, include: Determine whether the distance between the map matching point and the divergence point in the received map matching feedback information is less than a first preset distance, wherein the map matching feedback information is generated by the method described in any one of claims 1-6; If so, correct the DR positioning position based on the matching position of the map matching point; If not, the DR positioning position is corrected based on the DR positioning position correction result of the previous moment and the matching data of at least one candidate map matching point in the feedback information.

8. The method of claim 7, wherein, The step of correcting the DR positioning position based on the DR positioning position correction result of the previous moment and the matching data of at least one candidate map matching point in the feedback information specifically includes: Based on the DR positioning correction result of the previous moment and the matching data of at least one candidate map matching point in the feedback information, a new map matching point is determined; The DR positioning position is corrected based on the matching position of the new map matching point, or the DR positioning position is corrected based on the matching position of the new map matching point and the corresponding GNSS positioning position.

9. The method of claim 8, wherein, The step of determining a new map matching point based on the DR positioning correction result of the previous moment and the matching data of at least one candidate map matching point in the feedback information specifically includes determining a candidate map matching point that meets at least one of the following conditions as the new map matching point: The matching degree of the candidate map matching points is greater than the set matching degree threshold; The angle matching between the road segment where the DR location was located at the previous moment and the matching road segment of the candidate map matching point; The slope matching of the road segment where the DR location was located at the previous moment with the matching road segment of the candidate map matching point; The road information of the road segment where the DR location is located at the previous moment is matched with the road segment of the candidate map matching point.

10. A computer program product with navigation function, comprising a computer program / instructions, wherein, When the computer program / instruction is executed by the processor, it implements the method for determining auxiliary positioning information as described in any one of claims 1 to 6, or the dead reckoning method as described in any one of claims 7 to 9.

Images