Navigation path matching method and device, electronic device, and storage medium

Abstract

The present invention provides a navigation path matching method and device, an electronic device, and a storage medium. One navigation path matching method includes: obtaining a navigation trajectory and marking multiple trajectory points; determining a rectangular area centered on each trajectory point, and extracting lane information for the original lane within the rectangular area in a high-precision map; determining the original lane as an alternative lane for the trajectory point if the distance is less than a distance threshold; determining the alternative lane with a connection status of "connected" as a connecting lane; and matching and generating at least one lane-level navigation path based on the distribution of the trajectory points corresponding to each connecting lane in the navigation trajectory. This solution, when using heterogeneous marked precision maps and high-precision maps from different manufacturers for navigation, can effectively match and fuse the navigation paths, quickly obtain information on all drivable lanes on the navigation trajectory, and achieve precise navigation.

Description

Technical Field

[0001] The present application relates to the field of vehicle navigation technology, and in particular to a navigation path matching method and device, an electronic device, and a computer-readable storage medium. Background Art

[0002] With the rapid development of artificial intelligence (AI), AI has been applied to numerous fields with promising results. Intelligent driving, in particular, has garnered significant attention. In recent years, intelligent driving technology, ranging from emergency assistance to partially automated driving, has greatly facilitated people's lives, freeing drivers from the need to perform repetitive, simple actions for extended periods. High-precision maps are increasingly being used within intelligent driving. These maps provide comprehensive road and lane data, providing a crucial data foundation for autonomous driving prediction, decision-making, and even control.

[0003] Navigation within intelligent driving still requires standard precision maps for route planning, which are then refined using high-precision maps. This requires the fusion of standard precision maps and high-precision maps to accurately determine the navigation path. Currently, this approach relies primarily on homogenous data from the same vendor, limiting its applicability. Using heterogeneous standard precision maps and high-precision maps from different vendors for navigation is difficult to achieve, resulting in an inability to accurately determine the navigation path and limiting the application of intelligent driving technology. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the present invention provides a navigation path matching method and device, electronic device, and storage medium to solve the technical problem in intelligent driving technology that paths are difficult to match when using heterogeneous standard maps and high-precision maps for navigation.

[0005] In a first aspect, the present invention provides a navigation path matching method, comprising:

[0006] Obtaining a navigation track of the vehicle through a precise map, and marking a plurality of track points according to the navigation track;

[0007] Determine a rectangular area with each of the trajectory points as the center, and extract lane information of the original lane within the rectangular area in the high-precision map;

[0008] determining a distance between lane position information of each original lane and the navigation track, and determining the original lane as an alternative lane for the track point if the distance is less than a distance threshold; determining a connection state between each alternative lane of two adjacent track points on the navigation track, and determining the alternative lane with a connection state of "connected" as a connecting lane;

[0009] At least one lane-level navigation path is generated by matching the connecting lanes according to the distribution positions of the trajectory points corresponding to the connecting lanes in the navigation trajectory.

[0010] Optionally, a navigation track of the vehicle is obtained through a precise map, and a plurality of track points are marked according to the navigation track, including:

[0011] If the distance between the adjacent track points is greater than the preset interval threshold, then track points are added to the adjacent track points until the distance between all the adjacent track points is less than or equal to the preset interval threshold.

[0012] Optionally, after obtaining a navigation track of the vehicle through a precise map and marking a plurality of track points according to the navigation track, the following steps are included:

[0013] The navigation trajectory is divided into segmented trajectories, the trajectory points are matched on the segmented trajectories through a high-precision map, and the road information matching the navigation trajectory is obtained by path backtracking.

[0014] Optionally, the navigation trajectory is segmented to obtain segmented trajectories, the trajectory points are matched on the segmented trajectories using a high-precision map, and road information matching the navigation trajectory is obtained by path backtracking, including:

[0015] If the distance of the segmented trajectory exceeds a preset distance threshold, the length of the preset distance threshold is obtained on the segmented trajectory, and the trajectory points are matched on the segmented trajectory using a high-precision map;

[0016] If the distance of the segmented trajectory is less than a preset distance threshold, the length of the preset distance threshold is supplemented by the next segment of the segmented trajectory, and the trajectory points are matched on the segmented trajectory through the high-precision map.

[0017] Optionally, determining a rectangular area with each of the trajectory points as the center, and extracting lane information of the original lane within the rectangular area in the high-precision map, includes:

[0018] The high-precision map identifies the trajectory points on the matched road information and then extracts the lane information.

[0019] Optionally, determining a rectangular area with each of the trajectory points as the center, and extracting lane information of the original lane within the rectangular area in the high-precision map, includes:

[0020] The size of the rectangular area is 40m*40m, and the direction of the rectangular area in terms of longitude and latitude remains consistent.

[0021] Optionally, matching and generating at least one lane-level navigation path according to the distribution positions of the trajectory points corresponding to the connecting lanes in the navigation trajectory includes:

[0022] The end lane is selected by the track point at the end of the navigation track, and the navigation track is traced back from the end to the starting end. The lane with reverse connection is output to form each of the connecting lanes, and at least one lane-level navigation path is generated by matching.

[0023] In a second aspect, the present invention provides a navigation path matching device, comprising:

[0024] An acquisition module is used to acquire a navigation track of the vehicle through a precise map, and mark a plurality of track points according to the navigation track;

[0025] a processing module, configured to determine a rectangular area with each of the trajectory points as the center, and extract lane information of the original lane within the rectangular area in the high-precision map;

[0026] a determination module, configured to determine a distance between the lane position information of each original lane and the navigation trajectory, and if the distance is less than a distance threshold, determine the original lane as an alternative lane for the trajectory point; determine a connection state between each alternative lane of two adjacent trajectory points on the navigation trajectory, and determine the alternative lane with a connection state of "connected" as a connecting lane;

[0027] A generation module is used to match and generate at least one lane-level navigation path according to the distribution positions of the trajectory points corresponding to each of the connecting lanes in the navigation trajectory.

[0028] In a third aspect, the present invention provides an electronic device, comprising:

[0029] one or more processors;

[0030] The storage device is used to store one or more programs, and when the one or more programs are executed by the one or more processors, the electronic device implements the navigation path matching method as described in any one of the above items.

[0031] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor of a computer, enables the computer to execute any one of the navigation path matching methods described above.

[0032] In the solution implemented by the above-mentioned navigation path matching method and device, electronic device, and storage medium, the navigation track obtained by comparing with the precision map is marked with track points, and then the high-precision map is used to perform path matching through the navigation points, and lane information is continuously extracted to obtain information on all drivable lanes on the navigation track, thereby refining the navigation track. In this solution, the refinement process of the navigation track is continuously carried out during the vehicle's driving process using the high-precision map, and is performed using navigation points marked with the precision map. When using heterogeneous precision maps and high-precision maps from different manufacturers for navigation, the navigation path can be better matched and integrated, and the information on all drivable lanes on the navigation track can be quickly obtained, thereby achieving precise navigation.

[0033] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, serving to explain the principles of the present application. It is obvious that the drawings described below are merely some embodiments of the present application, and a person of ordinary skill in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0035] Figure 1 This is a schematic diagram of an implementation environment of a navigation path matching method shown in an exemplary embodiment of the present application;

[0036] Figure 2 is a flowchart of a navigation path matching method shown in an exemplary embodiment of the present application;

[0037] Figure 3 is a block diagram of a navigation path matching device shown in an exemplary embodiment of the present application;

[0038] Figure 4 A schematic diagram of the structure of a computer system suitable for implementing an electronic device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0039] The following describes the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art will readily appreciate the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the various details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are intended only to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0040] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0041] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the embodiments of the present invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring the embodiments of the present invention.

[0042] First of all, it should be explained that navigation is a technology that points to the critical path of the destination. It is the process of monitoring and controlling the movement of objects such as craft, vehicles, and pedestrians from one place to another. In a broader sense, navigation can refer to any skill or research that involves determining position and direction.

[0043] Positioning data in a standard map is used only to represent the shape of the road. After removing information such as the road width, the road in the standard map is abstracted into a broken line. The different broken line ends are linked to form a road network. Static information such as intersections, signs, and deceleration rates are associated with corresponding road segments. Ultimately, ground element information about the area to be passed is broadcast based on the location and direction of travel. This ground element information is relatively coarse compared to high-precision maps and cannot accurately represent the road shape, ground features, and other precise information required for vehicle control within a specific location range.

[0044] High-precision maps can accurately express ground features, such as the information and content of fixed landmarks such as lanes, traffic lights, and signs. However, due to the data processing capabilities of the route calculation engine and the addition of horizontal relationships and data expression in data expression, these differences have led to significant limitations on the expression of navigation information by high-precision maps.

[0045] There are many manufacturers that produce high-precision maps and standard-precision maps, which means that there are differences in the data of high-precision maps and standard-precision maps when they are produced. Different map manufacturers have different divisions of data fields and map areas, resulting in different high-precision map manufacturers expressing ground elements in different ways for the same section of road. Only high-precision maps and standard-precision maps produced by the same manufacturer can have a correlation. There is a natural gap in the data correspondence between high-precision maps and standard-precision maps of different manufacturers, and the process confidentiality of different manufacturers determines that they cannot reach an agreement on specification definitions.

[0046] In addition, the accuracy of data obtained on the road refers to relative accuracy. Since the earth is an irregular sphere, different manufacturers cannot use the same reference points when collecting data, resulting in differences in the relative accuracy of the data. The accuracy difference does not affect the use of the standard precision map, but when looking for the correspondence between the high-precision map and the standard precision map, matching will fail in some special sections or locations with complex road structures.

[0047] This solution is to merge the standard map and the high-precision map at the application level, and then remove the comparative relationship between the high-precision map data and the standard map data, thereby reducing the impact of the two types of data on data consumption such as regulation and control when they coexist.

[0048] Figure 1 This is a schematic diagram of an implementation environment for a navigation path matching method, shown in an exemplary embodiment of the present application. During vehicle travel, a navigation trajectory is obtained using a standard precision map, and lanes are selected using a rectangular overlay in the forward direction using a high-precision map to match and generate a lane-level navigation path.

[0049] The standard and high-precision maps can be installed on a smart terminal, which can be any terminal device that supports the installation of navigation map software, such as a smartphone, an in-vehicle computer, a tablet computer, a laptop computer, or a wearable device, but is not limited thereto. The smart terminal can communicate with the navigation server 220 via wireless networks such as 3G (third generation mobile information technology), 4G (fourth generation mobile information technology), and 5G (fifth generation mobile information technology), and this is not limited here.

[0050] See also Figure 2 , Figure 2 This is a flowchart of a navigation path matching method shown in an exemplary embodiment of the present application. This method can be applied to Figure 1 It should be understood that the method can also be applied to other exemplary implementation environments and specifically executed by devices in other implementation environments, and this embodiment does not limit the implementation environment to which the method is applicable.

[0051] like Figure 2 As shown, in an exemplary embodiment, the navigation path matching method includes at least steps S210 to S240, which are described in detail as follows:

[0052] Step S210: obtaining a navigation track of the vehicle through a precise map, and marking a plurality of track points according to the navigation track.

[0053] It should be noted that the navigation track is obtained by entering the location and destination on the standard map. It is an abstract irregular line with static information such as intersections, signboards, and deceleration.

[0054] In some embodiments, the track points are shape expressions of the navigation track. If the distance between adjacent track points is greater than a preset interval threshold, track points are added to the adjacent track points until the distance between all adjacent track points is less than or equal to the preset interval threshold.

[0055] Among them, track points are used to accurately express navigation trajectories. Therefore, track points are sparse on straight roads, which is not conducive to lane screening through track points on high-precision maps. Therefore, the density of track points needs to be increased. In the specific implementation process, the maximum interval between adjacent track points is required to be no more than 20 meters. Smaller navigation point spacing can reduce the range of lane screening and improve accuracy. Therefore, there is no constraint on the minimum interval between adjacent navigation points.

[0056] In some embodiments, the navigation trajectory is segmented to obtain segmented trajectories, the trajectory points are matched on the segmented trajectories using a high-precision map, and path backtracking is used to obtain road information that matches the navigation trajectory.

[0057] If the distance of the segmented trajectory exceeds the preset distance threshold, the length of the preset distance threshold is obtained on the segmented trajectory, and the trajectory points are matched on the segmented trajectory through the high-precision map; if the distance of the segmented trajectory is less than the preset distance threshold, the length of the preset distance threshold is supplemented by the next segment of the segmented trajectory, and the trajectory points are matched on the segmented trajectory through the high-precision map.

[0058] During the specific implementation process, the segmented trajectory obtained by segmenting the navigation trajectory is formed by a series of trajectory points. The preset distance threshold is set to 6km. Considering the amount of data to be processed, using high-precision maps for matching at this length can express the data continuity relationship on longer paths. At the same time, when tracing back the path, the longer trajectory can avoid mismatching in the case of slightly diverging roads; it can accurately match two roads where the divergence is less than 30 degrees. When the segmented trajectory length is required to be less than 6km, the end of the navigation trajectory needs to extend beyond the intersection. Shorter segmented trajectories make it difficult to distinguish the diverging locations, and it is necessary to extend beyond the intersection and then use path tracing to improve accuracy.

[0059] In step S220 , a rectangular area is determined with each of the trajectory points as the center, and lane information of the original lane within the rectangular area in the high-precision map is extracted.

[0060] In some embodiments, the HD map identifies the track points on the matched road information and then extracts the lane information. The rectangular area is 40m*40m in size, and the orientation of the rectangular area in terms of longitude and latitude remains consistent. For two track points with a small distance between them, the range of lane screening can be reduced to improve accuracy.

[0061] Step S230: determining the distance between the lane position information of each original lane and the navigation track; if the distance is less than a distance threshold, determining the original lane as the candidate lane for the track point; determining the connection status between the candidate lanes of two adjacent track points on the navigation track; and determining the candidate lane with the connection status of "connected" as the connecting lane;

[0062] In the specific implementation, the distance between the lane position information of each original lane and the navigation trajectory is determined using the Hausdorff distance, which measures the distance between proper subsets in a metric space. The Hausdorff distance is another distance that can be applied to edge matching algorithms, addressing occlusion issues that the SED method cannot.

[0063] Among them, the screening of connecting lanes and terminal lanes is achieved by using the lane screening method in the previous step, mainly based on high-precision maps. For example, the connecting lane is centered on the next navigation trajectory point, with a 40m*40m rectangular area circled. All connecting lane information in the coverage area is extracted, and the Hausdorff distance between all connecting lane information and the navigation trajectory is calculated. Lanes that meet the distance threshold are marked as connecting lanes.

[0064] Step S240 , matching and generating at least one lane-level navigation path according to the distribution positions of the trajectory points corresponding to the connecting lanes in the navigation trajectory.

[0065] According to the driving speed of the user vehicle in the expected passing lane during the historical driving period, a lane whose driving speed approaches the speed limit of the segmented trajectory is selected as the target passing lane, and the expected passing lanes selected on each segmented lane are connected to form a navigation path matching path.

[0066] In some embodiments, the end lane is filtered out by the trajectory point at the end of the navigation trajectory, and the navigation trajectory is traced back from the end to the starting end. The lane with reverse connection is output to form each of the connecting lanes, and at least one lane-level navigation path is generated by matching.

[0067] Backtrack according to the connection relationship; extract lane data from the end lane cache area, and backtrack from the end of the navigation path to the starting end according to the connection relationship. Add the lanes with reverse connection to the output cache area. The result after backtracking is the output result, that is, the high-precision map information of all drivable lanes on the navigation path to form navigation data.

[0068] After completing the matching between the standard map and the high-precision map, the lane information is provided to the business layer application as one of the high-precision map elements in a unified data interface model, realizing heterogeneous navigation path matching between the standard map and the high-precision map. This method can also be applied to heterogeneous navigation path matching between the standard map and the high-precision map.

[0069] In one embodiment, a navigation path matching device is provided. The navigation path matching device corresponds to the navigation path matching method in the above embodiment. Figure 3 As shown, Figure 3 30 is a structural diagram of a navigation path matching device according to an exemplary embodiment of the present application, including an acquisition module 301, a processing module 302, a determination module 303, and a generation module 304. The functional modules are described in detail as follows:

[0070] An acquisition module 301 is configured to acquire a navigation track of a vehicle through a precise map and mark a plurality of track points according to the navigation track;

[0071] The processing module 302 is configured to determine a rectangular area with each of the trajectory points as the center, and extract lane information of the original lane within the rectangular area in the high-precision map;

[0072] The determination module 303 is configured to determine the distance between the lane position information of each original lane and the navigation trajectory, and if the distance is less than a distance threshold, determine the original lane as the candidate lane for the trajectory point; determine the connection status between the candidate lanes of two adjacent trajectory points on the navigation trajectory, and determine the candidate lane with the connection status of "connected" as the connecting lane;

[0073] The generating module 304 is configured to match and generate at least one lane-level navigation path according to the distribution positions of the trajectory points corresponding to the connecting lanes in the navigation trajectory.

[0074] It should be noted that the navigation path matching device provided in the above embodiment and the navigation path matching method provided in the above embodiment are based on the same concept. The specific manner in which the various modules and units perform their operations has been described in detail in the method embodiment and will not be repeated here. In actual applications, the navigation path matching device provided in the above embodiment can, as needed, allocate the above functions to different functional modules, i.e., divide the internal structure of the device into different functional modules to perform all or part of the functions described above. This is not a limitation herein.

[0075] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements the navigation path matching method provided in the above-mentioned embodiments.

[0076] Figure 4 The following is a schematic diagram showing the structure of a computer system suitable for implementing an electronic device according to an embodiment of the present application. Figure 4 The computer system 400 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0077] like Figure 4 As shown, the computer system 400 includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 402 or the program loaded from the storage part 408 into the random access memory (RAM) 403, such as executing the method described in the above embodiment. Various programs and data required for system operation are also stored in the RAM 403. The CPU 401, ROM 402 and RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0078] The following components are connected to the I / O interface 405: an input section 406 including a keyboard, a mouse, and the like; an output section 407 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 408 including a hard disk and the like; and a communication section 409 including a network interface card such as a LAN (Local Area Network) card or a modem. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. Removable media 411, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 410 as needed, so that computer programs read therefrom can be installed into the storage section 408 as needed.

[0079] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 409, and / or installed from a removable medium 411. When the computer program is executed by the central processing unit (CPU) 401, the various functions defined in the system of the present application are executed.

[0080] It should be noted that the computer-readable medium shown in the embodiments of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable computer program. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0081] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. Among them, each box in the flowchart or block diagram can represent a module, program segment, or part of the code, and the above-mentioned module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0082] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. In some cases, the names of these units do not constitute limitations on the units themselves.

[0083] Another aspect of the present application provides a computer-readable storage medium having a computer program stored thereon. When executed by a computer processor, the computer program causes the computer to perform the navigation path matching method described above. The computer-readable storage medium may be included in the electronic device described in the above embodiments, or may exist independently and not be incorporated into the electronic device.

[0084] Another aspect of the present application further provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the navigation path matching method provided in each of the above embodiments.

[0085] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, any equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A navigation path matching method, characterized in that: The method comprises: Obtaining a navigation track of the vehicle through a precise map, and marking a plurality of track points according to the navigation track; Determine a rectangular area with each of the trajectory points as the center, and extract lane information of the original lane within the rectangular area in the high-precision map; the size of the rectangular area is 40m*40m, and the direction of the rectangular area in longitude and latitude is consistent; determining a distance between lane position information of each original lane and the navigation track; if the distance is less than a distance threshold, determining the original lane as an alternative lane for the track point; determining a connection state between each alternative lane of two adjacent track points on the navigation track; and determining the alternative lane having a connection state of "connected" as a connecting lane; Matching and generating at least one lane-level navigation path according to the distribution positions of the trajectory points corresponding to the connecting lanes in the navigation trajectory; The end lane is selected by the track point at the end of the navigation track, and the navigation track is traced back from the end to the starting end. The lane with reverse connection is output to form each of the connecting lanes, and at least one lane-level navigation path is generated by matching.

2. The navigation path matching method according to claim 1, characterized in that: Obtaining a navigation track of the vehicle through a precise map, and marking multiple track points according to the navigation track, including: If the distance between the adjacent track points is greater than the preset interval threshold, then track points are added to the adjacent track points until the distance between all the adjacent track points is less than or equal to the preset interval threshold.

3. The navigation path matching method according to claim 1, wherein: Obtaining a navigation track of the vehicle through a precise map, and marking a plurality of track points according to the navigation track, including: The navigation trajectory is divided into segmented trajectories, the trajectory points are matched on the segmented trajectories through a high-precision map, and the road information matching the navigation trajectory is obtained by path backtracking.

4. The navigation path matching method according to claim 3, wherein: The navigation track is segmented to obtain segmented tracks, the track points are matched on the segmented tracks using a high-precision map, and the road information matching the navigation track is obtained by path backtracking, including: If the distance of the segmented trajectory exceeds a preset distance threshold, the length of the preset distance threshold is obtained on the segmented trajectory, and the trajectory points are matched on the segmented trajectory using a high-precision map; If the distance of the segmented trajectory is less than a preset distance threshold, the length of the preset distance threshold is supplemented by the next segment of the segmented trajectory, and the trajectory points are matched on the segmented trajectory through the high-precision map.

5. The navigation path matching method according to claim 4, characterized in that: Determine a rectangular area with each of the trajectory points as the center, and extract lane information of the original lane within the rectangular area in the high-precision map, including: The high-precision map identifies the trajectory points on the matched road information and then extracts the lane information.

6. A navigation path matching device, characterized in that: The device comprises: An acquisition module is used to acquire a navigation track of the vehicle through a precise map, and mark a plurality of track points according to the navigation track; A processing module is configured to determine a rectangular area centered on each of the trajectory points and extract lane information of the original lane within the rectangular area in the high-precision map; the size of the rectangular area is 40m*40m, and the orientation of the rectangular area in terms of latitude and longitude is consistent; a determination module, configured to determine a distance between the lane position information of each original lane and the navigation trajectory, and if the distance is less than a distance threshold, determine the original lane as an alternative lane for the trajectory point; determine a connection state between each alternative lane of two adjacent trajectory points on the navigation trajectory, and determine the alternative lane with a connection state of "connected" as a connecting lane; The generation module is configured to match and generate at least one lane-level navigation path according to the distribution positions of the trajectory points corresponding to each of the connecting lanes in the navigation trajectory; select the terminal lane by the trajectory point at the terminal end of the navigation trajectory, trace back from the terminal end of the navigation trajectory to the starting end, output the lane with reverse connection to form a lane with each of the connecting lanes, and match it with each of the connecting lanes to generate at least one lane-level navigation path.

7. An electronic device, characterized in that: The electronic device comprises: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the electronic device to implement the navigation path matching method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed by a processor of a computer, the computer is caused to execute the navigation path matching method according to any one of claims 1 to 5.

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