Map matching method, control device, readable storage medium and driving device

Abstract

The application relates to the technical field of automatic driving, and particularly provides a map matching method, a control device, a readable storage medium and a driving device, aiming to solve the problem of how to realize the rapid matching of a conventional map and a high-precision map in various scenes of high-level assisted driving, so as to ensure the rapid entering of an automatic driving openable condition. For the purpose, the current map matching scene is determined according to the navigation information of the driving device and the information of a path to be matched, the matching method for map matching is determined according to the current map matching scene or the current map matching scene and whether the driving device meets an online calculation condition, and a high-precision map path matched with the path to be matched is acquired. The application comprehensively considers the online calculation condition of the driving device and different map matching scenes, selects a more suitable map matching method, realizes a more rapid and accurate matching process, and ensures that the driving device can rapidly enter the automatic driving openable condition.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, specifically providing a map matching method, a control device, a readable storage medium, and a driving device. Background Technology

[0002] Advanced driver assistance systems (ADAS) have attracted increasing attention, and a prerequisite for realizing ADAS is that the assisted driving area is covered by a high-precision map and has the support of high-precision map navigation routes.

[0003] However, due to technical difficulties and commercial limitations in navigation, currently, when map providers only offer conventional map navigation, after receiving navigation route information, it is necessary to further calculate high-precision map navigation information based on the conventional map's navigation information. This process is known as map matching. Therefore, high-precision map navigation route matching calculations are essential before activating advanced driver assistance systems (ADAS). How to achieve rapid matching of conventional and high-precision maps in various ADAS scenarios to ensure quick access to conditions suitable for autonomous driving is a problem that needs to be solved in this field. Summary of the Invention

[0004] To overcome the above-mentioned shortcomings, this invention is proposed to provide a solution, or at least a partial solution, to the problem of how to achieve rapid matching of conventional maps and high-precision maps in various scenarios of advanced driver assistance systems, so as to ensure rapid entry into conditions where autonomous driving can be activated.

[0005] In a first aspect, the present invention provides a map matching method applied to a driving device, the method comprising:

[0006] The current map matching scenario is determined based on the navigation information of the driving device and the information of the path to be matched.

[0007] Based on the current map matching scenario or whether the current map matching scenario and the driving device meet the online calculation conditions, a matching method for map matching is determined;

[0008] Based on the determined matching method, map matching is performed on the path to be matched to obtain a high-precision map path that matches the path to be matched.

[0009] In one technical solution of the above map matching method, the map matching scenario includes asynchronous matching scenario and non-asynchronous matching scenario, and the map matching method includes an asynchronous matching method. The step of "determining the matching method for map matching based on the current map matching scenario or whether the current map matching scenario and the driving device meet the online calculation conditions" includes:

[0010] When the map matching scenario is an asynchronous matching scenario, the asynchronous matching method is selected for map matching;

[0011] When the map matching scenario is a non-asynchronous matching scenario, the matching method for map matching is determined based on whether the driving device meets the online calculation conditions.

[0012] In one technical solution of the above map matching method, when an asynchronous matching method is selected for map matching, the step of "performing map matching on the path to be matched based on the determined matching method to obtain a high-precision map path that matches the path to be matched" includes:

[0013] Based on the location information of the starting point and the ending point of the path to be matched, obtain the matching results of the first and last route segments of the path to be matched;

[0014] For the part of the path to be matched, excluding the first and last path segments, a matching method for map matching is determined based on whether the driving device meets the online calculation conditions;

[0015] Based on the determined matching method, the matching results of the part of the path to be matched, excluding the first and last path segments, are obtained;

[0016] Based on the matching results of the part of the path to be matched excluding the first and last path segments and the matching results of the first and last route segments, a high-precision map path matching the path to be matched is obtained.

[0017] In one technical solution of the above map matching method, the step of "obtaining the matching results of the first and last route segments of the path to be matched based on the location information of the starting point and the ending point of the path to be matched" includes:

[0018] Based on the location information of the starting point and the ending point of the path to be matched, determine the matching range of the first and last route segments of the path to be matched in the high-precision map;

[0019] Based on the matching range, map matching is performed on the first and last path segments to obtain the matching results of the first and last path segments in the high-precision map.

[0020] In one technical solution of the above map matching method, the information of the path to be matched includes at least the path length of the path to be matched. The step of "determining the current map matching scenario based on the navigation information of the driving device and the information of the path to be matched" includes:

[0021] Based on the navigation information of the driving device, determine whether the current navigation scenario of the driving device is a recalculated navigation scenario;

[0022] If the navigation scenario is a recalculated navigation scenario and the path length is greater than or equal to the preset length, then the current map matching scenario is determined to be an asynchronous matching scenario.

[0023] If the navigation scenario is not a recalculated navigation scenario or the path length is less than the preset length, then the current map matching scenario is determined to be a non-asynchronous matching scenario.

[0024] In one technical solution of the above map matching method, the map matching method further includes a segmented parallel matching method and a segmented real-time matching method. The step of "determining the matching method for map matching based on whether the driving device meets the online calculation conditions" includes:

[0025] When the driving device meets the online calculation conditions, the segmented parallel matching method is selected for map matching.

[0026] When the driving device does not meet the online calculation conditions, a segmented real-time matching method is selected for map matching.

[0027] In one technical solution of the above map matching method, when a segmented parallel matching method is selected for map matching, the step of "performing map matching on the path to be matched based on the determined matching method to obtain a high-precision map path that matches the path to be matched" includes:

[0028] Based on the topology information of the path to be matched, the path to be matched is segmented to obtain multiple path segments;

[0029] Multiple path segments are matched in parallel to obtain the matching path segments for each path segment in the high-precision map.

[0030] All matching path segments are merged end to end to obtain a high-precision map path that matches the path to be matched.

[0031] In one technical solution of the above map matching method, the step of "segmenting the path to be matched according to the topological information of the path to be matched, and obtaining multiple path segments" includes:

[0032] Based on the topology information of the path to be matched, starting from the starting point of the path to be matched, traverse forward along the path to be matched, and determine whether the connecting line currently traversed satisfies the truncation condition.

[0033] When the currently traversed connecting line meets the truncation condition, save the path segment corresponding to the currently traversed connecting line, and take the end point of the currently traversed connecting line as the new starting point, and jump to the step of "traversing forward along the path to be matched and determining whether the currently traversed connecting line meets the truncation condition".

[0034] Once the entire path to be matched has been traversed, proceed to the step of "parallel map matching of multiple path segments".

[0035] In one technical solution of the above map matching method, the method further includes determining the truncation condition according to the following steps:

[0036] Determine whether the currently traversed connecting line has reached a preset length threshold;

[0037] Determine whether the shape point density of the currently traversed position of the path to be matched reaches a preset density threshold;

[0038] When the connecting line reaches the length requirement and the density of the shape points reaches the density threshold, it is determined that the connecting line being traversed currently meets the truncation condition.

[0039] In one technical solution of the above map matching method, the step of "merging all matching path segments end to end to obtain a high-precision map path that matches the path to be matched" includes:

[0040] When merging the beginning and end of the matching path segments, if there is an overlap at the boundary of two matching path segments, the matching path segment with the highest confidence among the two matching path segments is selected as the final result of the overlapping part.

[0041] In one technical solution of the above map matching method, when a segmented real-time matching method is selected for map matching, the step of "performing map matching on the path to be matched based on the determined matching method to obtain a high-precision map path that matches the path to be matched" includes:

[0042] Based on the topology information of the path to be matched, start from the starting point of the path to be matched and traverse forward along the path to be matched;

[0043] Determine if the current map sheet of the high-precision map corresponding to the currently traversed portion exists;

[0044] If so, perform map matching on the path to be matched within the current map area;

[0045] If not, start an asynchronous download task to download the current map sheet. After the current map sheet is downloaded, perform map matching on the path to be matched within the current map sheet area.

[0046] Once the map matching within the current map area is completed, the end point of the current traversal portion is taken as the starting point, and the process jumps to the step of "starting from the starting point of the path to be matched and traversing forward along the path to be matched".

[0047] Once the path to be matched has been traversed, the map matching results of all map sheets are merged to obtain the final map matching result.

[0048] In one technical solution of the above map matching method, the steps include:

[0049] Determine whether the current map sheet of the high-precision map corresponding to the currently traversed part and the eight map sheets surrounding the current map sheet already exist;

[0050] The steps to "start an asynchronous download task to download the current map sheet" include:

[0051] Start an asynchronous download task to download the current map sheet corresponding to the currently traversed portion, as well as the eight map sheets surrounding the current map sheet.

[0052] In one technical solution of the above map matching method, the method further includes performing map matching on the path to be matched according to the following steps:

[0053] Based on the starting point and ending point of the path to be matched, map matching is performed simultaneously forward from the starting point and backward from the ending point of the path to be matched; map matching ends when the starting point and ending point of the path to be matched coincide.

[0054] The matching results from forward map matching and backward map matching are combined to form the final map matching result; and / or,

[0055] The steps for “performing map matching” include:

[0056] Obtain the projected distance between the shape points of the current path to be matched and the path on the high-precision map;

[0057] The map matching result is obtained based on the projection distance.

[0058] In a second aspect, a control device is provided, comprising a processor and a storage device, the storage device being adapted to store a plurality of program codes, the program codes being adapted to be loaded and executed by the processor to perform the map matching method described in any of the above-described map matching method technical solutions.

[0059] In a third aspect, a computer-readable storage medium is provided, wherein a plurality of program codes are stored therein, the program codes being adapted to be loaded and run by a processor to perform the map matching method described in any of the above-described map matching methods.

[0060] In a fourth aspect, a driving device is provided, the driving device including the control device in the above-mentioned control device technical solution.

[0061] The above-described technical solutions of the present invention have at least one or more of the following beneficial effects:

[0062] In implementing the technical solution of this invention, the invention determines the current map matching scenario based on the navigation information of the driving device and the information of the path to be matched. Based on the current map matching scenario, or whether the current map matching scenario and the driving device meet the online calculation conditions, a matching method for map matching is determined, and the selected matching method is applied to obtain a high-precision map path matching the path to be matched. Through the above configuration, this invention comprehensively considers the online calculation conditions of the driving device and different map matching scenarios, selecting a more suitable map matching method according to different situations to achieve a faster and more accurate matching process, thereby ensuring that the driving device can quickly enter the conditions for autonomous driving.

[0063] Solution 1. A map matching method applied to a driving device, characterized in that the method includes:

[0064] The current map matching scenario is determined based on the navigation information of the driving device and the information of the path to be matched.

[0065] Based on the current map matching scenario or whether the current map matching scenario and the driving device meet the online calculation conditions, a matching method for map matching is determined;

[0066] Based on the determined matching method, map matching is performed on the path to be matched to obtain a high-precision map path that matches the path to be matched.

[0067] Solution 2. The map matching method according to Solution 1, characterized in that the map matching scenario includes asynchronous matching scenario and non-asynchronous matching scenario, and the map matching method includes an asynchronous matching method. The step of "determining the matching method for map matching based on the current map matching scenario or whether the current map matching scenario and the driving device meet the online calculation conditions" includes:

[0068] When the map matching scenario is an asynchronous matching scenario, the asynchronous matching method is selected for map matching;

[0069] When the map matching scenario is a non-asynchronous matching scenario, the matching method for map matching is determined based on whether the driving device meets the online calculation conditions.

[0070] Solution 3. The map matching method according to Solution 2, characterized in that, when an asynchronous matching method is selected for map matching, the step of "performing map matching on the path to be matched based on the determined matching method to obtain a high-precision map path matching the path to be matched" includes:

[0071] Based on the location information of the starting point and the ending point of the path to be matched, obtain the matching results of the first and last route segments of the path to be matched;

[0072] For the part of the path to be matched, excluding the first and last path segments, a matching method for map matching is determined based on whether the driving device meets the online calculation conditions;

[0073] Based on the determined matching method, the matching results of the part of the path to be matched, excluding the first and last path segments, are obtained;

[0074] Based on the matching results of the part of the path to be matched excluding the first and last path segments and the matching results of the first and last route segments, a high-precision map path matching the path to be matched is obtained.

[0075] Solution 4. The map matching method according to Solution 3, characterized in that the step of "obtaining the matching results of the first and last route segments of the path to be matched based on the location information of the starting point and the ending point of the path to be matched" includes:

[0076] Based on the location information of the starting point and the ending point of the path to be matched, determine the matching range of the first and last route segments of the path to be matched in the high-precision map;

[0077] Based on the matching range, map matching is performed on the first and last path segments to obtain the matching results of the first and last path segments in the high-precision map.

[0078] Solution 5. The map matching method according to Solution 2, characterized in that the information of the path to be matched includes at least the path length of the path to be matched, and the step of "determining the current map matching scenario based on the navigation information of the driving device and the information of the path to be matched" includes:

[0079] Based on the navigation information of the driving device, determine whether the current navigation scenario of the driving device is a recalculated navigation scenario;

[0080] If the navigation scenario is a recalculated navigation scenario and the path length is greater than or equal to the preset length, then the current map matching scenario is determined to be an asynchronous matching scenario.

[0081] If the navigation scenario is not a recalculated navigation scenario or the path length is less than the preset length, then the current map matching scenario is determined to be a non-asynchronous matching scenario.

[0082] Solution 6. The map matching method according to Solution 2 or 3, characterized in that the map matching method further includes a segmented parallel matching method and a segmented real-time matching method, and the step of "determining the matching method for map matching based on whether the driving device meets the online calculation conditions" includes:

[0083] When the driving device meets the online calculation conditions, the segmented parallel matching method is selected for map matching.

[0084] When the driving device does not meet the online calculation conditions, a segmented real-time matching method is selected for map matching.

[0085] Solution 7. The map matching method according to Solution 6, characterized in that, when the segmented parallel matching method is selected for map matching, the step of "performing map matching on the path to be matched based on the determined matching method to obtain a high-precision map path matching the path to be matched" includes:

[0086] Based on the topology information of the path to be matched, the path to be matched is segmented to obtain multiple path segments;

[0087] Multiple path segments are matched in parallel to obtain the matching path segments for each path segment in the high-precision map.

[0088] All matching path segments are merged end to end to obtain a high-precision map path that matches the path to be matched.

[0089] Solution 8. The map matching method according to Solution 7, characterized in that the step of "segmenting the path to be matched according to the topological information of the path to be matched to obtain multiple path segments" includes:

[0090] Based on the topology information of the path to be matched, starting from the starting point of the path to be matched, traverse forward along the path to be matched, and determine whether the connecting line currently traversed satisfies the truncation condition.

[0091] When the currently traversed connecting line meets the truncation condition, save the path segment corresponding to the currently traversed connecting line, and take the end point of the currently traversed connecting line as the new starting point, and jump to the step of "traversing forward along the path to be matched and determining whether the currently traversed connecting line meets the truncation condition".

[0092] Once the entire path to be matched has been traversed, proceed to the step of "parallel map matching of multiple path segments".

[0093] Solution 9. The map matching method according to Solution 8, characterized in that the method further includes determining the truncation condition according to the following steps:

[0094] Determine whether the currently traversed connecting line has reached a preset length threshold;

[0095] Determine whether the shape point density of the currently traversed position of the path to be matched reaches a preset density threshold;

[0096] When the connecting line reaches the length requirement and the density of the shape points reaches the density threshold, it is determined that the connecting line being traversed currently meets the truncation condition.

[0097] Solution 10. The map matching method according to Solution 8, characterized in that the step of "merging all matching path segments end to end to obtain a high-precision map path that matches the path to be matched" includes:

[0098] When merging the beginning and end of the matching path segments, if there is an overlap at the boundary of two matching path segments, the matching path segment with the highest confidence among the two matching path segments is selected as the final result of the overlapping part.

[0099] Solution 11. The map matching method according to Solution 6, characterized in that, when a segmented real-time matching method is selected for map matching, the step of "performing map matching on the path to be matched based on the determined matching method to obtain a high-precision map path matching the path to be matched" includes:

[0100] Based on the topology information of the path to be matched, start from the starting point of the path to be matched and traverse forward along the path to be matched;

[0101] Determine if the current map sheet of the high-precision map corresponding to the currently traversed portion exists;

[0102] If so, perform map matching on the path to be matched within the current map area;

[0103] If not, start an asynchronous download task to download the current map sheet. After the current map sheet is downloaded, perform map matching on the path to be matched within the current map sheet area.

[0104] Once the map matching within the current map area is completed, the end point of the current traversal portion is taken as the starting point, and the process jumps to the step of "starting from the starting point of the path to be matched and traversing forward along the path to be matched".

[0105] Once the path to be matched has been traversed, the map matching results of all map sheets are merged to obtain the final map matching result.

[0106] Solution 12. The map matching method according to Solution 11, characterized in that the step of "determining whether the current map sheet of the high-precision map corresponding to the currently traversed part exists" includes:

[0107] Determine whether the current map sheet of the high-precision map corresponding to the currently traversed part and the eight map sheets surrounding the current map sheet already exist;

[0108] The steps to "start an asynchronous download task to download the current map sheet" include:

[0109] Start an asynchronous download task to download the current map sheet corresponding to the currently traversed portion, as well as the eight map sheets surrounding the current map sheet.

[0110] Solution 13. The map matching method according to any one of Solutions 1-12, characterized in that the method further includes performing map matching on the path to be matched according to the following steps:

[0111] Based on the starting point and ending point of the path to be matched, map matching is performed simultaneously forward from the starting point and backward from the ending point of the path to be matched; map matching ends when the starting point and ending point of the path to be matched coincide.

[0112] The matching results from forward map matching and backward map matching are combined to form the final map matching result; and / or,

[0113] The steps for “performing map matching” include:

[0114] Obtain the projected distance between the shape points of the current path to be matched and the path on the high-precision map;

[0115] The map matching result is obtained based on the projection distance.

[0116] Scheme 14. A control device comprising a processor and a storage device, the storage device being adapted to store a plurality of program codes, characterized in that the program codes are adapted to be loaded and run by the processor to perform the map matching method of any one of Schemes 1 to 13.

[0117] Scheme 15. A computer-readable storage medium storing a plurality of program codes, characterized in that the program codes are adapted to be loaded and run by a processor to perform the map matching method of any one of Schemes 1 to 13.

[0118] Option 16. A driving device, characterized in that the driving device includes the control device described in Option 14. Attached Figure Description

[0119] The disclosure of this invention will become more readily understood with reference to the accompanying drawings. It will be readily understood by those skilled in the art that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. Wherein:

[0120] Figure 1 This is a schematic flowchart of the main steps of a map matching method according to an embodiment of the present invention;

[0121] Figure 2 This is a schematic flowchart of the main steps of a map matching method according to an embodiment of the present invention;

[0122] Figure 3 This is a schematic flowchart of the main steps of a segmented parallel matching method according to an embodiment of the present invention.

[0123] Figure 4 This is a schematic flowchart of the main steps of a segmented real-time matching method according to an embodiment of the present invention.

[0124] Figure 5 This is a schematic flowchart of the main steps of an asynchronous matching method according to an embodiment of the present invention;

[0125] Figure 6 This is a schematic flowchart of the main steps of a head-to-tail matching method according to an embodiment of the present invention. Detailed Implementation

[0126] Some embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0127] In the description of this invention, "module" and "processor" can include hardware, software, or a combination of both. A module can include hardware circuitry, various suitable sensors, communication ports, memory, and may also include software components, such as program code, or a combination of software and hardware. A processor can be a central processing unit, microprocessor, image processor, digital signal processor, or any other suitable processor. The processor has data and / or signal processing capabilities. The processor can be implemented in software, in hardware, or a combination of both. Non-transitory computer-readable storage media includes any suitable medium capable of storing program code, such as magnetic disks, hard disks, optical disks, flash memory, read-only memory, random access memory, etc. The term "A and / or B" means all possible combinations of A and B, such as only A, only B, or A and B. The terms "at least one A or B" or "at least one of A and B" have a similar meaning to "A and / or B" and can include only A, only B, or A and B. The singular terms "a" or "this" can also include plural forms.

[0128] See appendix Figure 1 , Figure 1This is a schematic flowchart illustrating the main steps of a map matching method according to an embodiment of the present invention. Figure 1 As shown, the map matching method in this embodiment of the invention is applied to a driving device. The map matching method mainly includes the following steps S101-S103.

[0129] Step S101: Determine the current map matching scenario based on the navigation information of the driving device and the information of the path to be matched.

[0130] In this embodiment, the current map matching scenario can be determined based on the navigation information from the driving device and the information of the path to be matched. The navigation information is obtained by the driving device based on the user's input navigation request. The path to be matched is the navigation path in the regular map obtained based on the navigation request.

[0131] In one implementation, map matching scenarios include asynchronous matching scenarios and non-asynchronous matching scenarios.

[0132] In one implementation, the information of the path to be matched may include at least the path length of the path to be matched.

[0133] In one implementation, the driving device can be a vehicle.

[0134] Step S102: Determine the matching method for map matching based on the current map matching scenario or whether the current map matching scenario and the driving device meet the online calculation conditions.

[0135] In this embodiment, the matching method for map matching can be determined based on the current map matching scenario obtained in step S101; or, the matching method for map matching can be determined based on the current map matching scenario and whether the driving device meets the online calculation conditions.

[0136] In one implementation, the online computing conditions of the driving device can be determined based on the network speed of the driving device over a period of time.

[0137] In one implementation, an online calculation can be attempted first. If the attempt is successful, it indicates that the driving device meets the online calculation conditions; if the attempt is unsuccessful, it indicates that the driving device does not meet the online calculation conditions.

[0138] In one implementation, the matching method for map matching may include an asynchronous matching method, a segmented parallel matching method, and a segmented real-time matching method.

[0139] Step S103: Based on the determined matching method, perform map matching on the path to be matched to obtain a high-precision map path that matches the path to be matched.

[0140] In this embodiment, the path to be matched can be matched according to the matching method determined in step S102 to obtain a high-precision map path matching the path to be matched.

[0141] Based on steps S101-S103 above, this embodiment of the invention determines the current map matching scenario based on the navigation information of the driving device and the information of the path to be matched. Depending on the current map matching scenario and whether the driving device meets the online calculation conditions, a matching method for map matching is determined, and the selected matching method is applied to obtain a high-precision map path matching the path to be matched. Through the above configuration, this embodiment of the invention comprehensively considers the online calculation conditions of the driving device and different map matching scenarios, selecting a more suitable map matching method according to different situations to achieve a faster and more accurate matching process, thereby ensuring that the driving device can quickly enter the conditions for autonomous driving.

[0142] The following provides a further explanation of steps S101 to S103.

[0143] In one embodiment of the present invention, step S101 may further include steps S1011 to S1013:

[0144] Step S1011: Based on the navigation information of the driving device, determine whether the current navigation scenario of the driving device is a recalculated navigation scenario.

[0145] Step S1012: If the navigation scenario is a recalculated navigation scenario and the path length is greater than or equal to the preset length, then the current map matching scenario is determined to be an asynchronous matching scenario.

[0146] Step S1013: If the navigation scenario is not a recalculated navigation scenario or the path length is less than the preset length, then the current map matching scenario is determined to be a non-asynchronous matching scenario.

[0147] In this embodiment, the navigation information from the driving device can be used to determine whether the current scenario is a recalculation navigation scenario. A recalculation navigation scenario refers to a scenario where the navigation route is recalculated based on the user's navigation request and actual navigation needs, such as navigation deviation, switching between main and auxiliary roads during navigation, or a user requesting a recalculation of the navigation route. When the navigation scenario is a recalculation navigation scenario and the path length of the path to be matched is greater than or equal to a preset length, the current map matching scenario can be determined to be an asynchronous matching scenario. When the navigation scenario is not a recalculation scenario or the path length of the path to be matched is less than the preset length, the current map matching scenario is determined to be a non-asynchronous matching scenario. Since the map matching method used in asynchronous matching scenarios has a longer computation time and a larger computational load, setting a preset length can avoid using the map matching method used in asynchronous matching scenarios for shorter paths. Those skilled in the art can set the value of the preset length according to the needs of actual application.

[0148] In one implementation, the preset length is 5000 km.

[0149] In one embodiment of the present invention, step S102 may further include steps S1021 and S1022:

[0150] Step S1021: When the map matching scenario is an asynchronous matching scenario, select the asynchronous matching method for map matching.

[0151] In this implementation, when the map matching scenario is determined to be an asynchronous matching scenario, the asynchronous matching method can be selected for map matching.

[0152] Step S1022: When the map matching scenario is a non-asynchronous matching scenario, determine the matching method for map matching based on whether the driving device meets the online calculation conditions.

[0153] In this embodiment, when the map matching scenario is a non-asynchronous matching scenario, the matching method used for map matching can be determined based on whether the driving device meets the online calculation conditions.

[0154] In one embodiment, step S1022 may further include steps S10221 and S10222:

[0155] Step S10221: When the driving device meets the online calculation conditions, select the segmented parallel matching method for map matching.

[0156] Step S10222: When the driving device does not meet the online calculation conditions, select the segmented real-time matching method for map matching.

[0157] In this embodiment, if the driving device has online computing capabilities, a segmented parallel matching method can be selected for map matching; if the driving device does not have online computing capabilities, a segmented real-time matching method can be selected for map matching.

[0158] In one embodiment of the present invention, when the segmented parallel matching method is selected for map matching, step S103 may further include the following steps S10301 to S10303:

[0159] Step S10301: Based on the topology information of the path to be matched, segment the path to be matched to obtain multiple path segments.

[0160] In one implementation, when using a segmented parallel matching method for map matching, it can be first determined whether the map sheets of all the high-precision maps required for the path to be matched are included. This can be determined by using the path ID based on the coordinates of the path to be matched.

[0161] In this embodiment, step S10301 may include steps S103011 to S1030113:

[0162] Step S103011: Based on the topology information of the path to be matched, start from the starting point of the path to be matched and traverse forward along the path to be matched, and determine whether the connecting line of the current traversal meets the truncation condition.

[0163] Step S103012: When the currently traversed connecting line meets the truncation condition, save the path segment corresponding to the currently traversed connecting line, take the end point of the currently traversed connecting line as the new starting point, and jump to step S103011.

[0164] Step S103013: After the entire path to be matched has been traversed, proceed to step S10302.

[0165] In this implementation, the topological information of the path to be matched can be traversed forward from the starting point. When the truncation condition is met, the end point of the current traversal connection line can be used as the new starting point for the next traversal.

[0166] In one implementation, the truncation condition can be determined based on the length of the currently traversed path and road attributes. Specifically, when the connecting line reaches the length requirement and the shape point density reaches the density threshold, the currently traversed connecting line is deemed to meet the truncation condition. This ensures that the path length of each segmented path is appropriate, while also ensuring the integrity of the links in the segmented path segments.

[0167] Step S10302: Perform map matching on multiple path segments in parallel to obtain the matching path segments of each path segment in the high-precision map.

[0168] In this embodiment, map matching can be performed in parallel on multiple path segments according to the following steps S201 and S202:

[0169] Step S201: Obtain the projection distance between the shape points of the current path to be matched and the path on the high-precision map.

[0170] Step S202: Obtain the map matching result based on the projection distance.

[0171] In this embodiment, each path segment can be used as the path to be matched in step S201, and map matching can be performed on each path segment. The map matching result is obtained based on the projection distance between the shape points of the path segment to be matched and the path in the high-precision map.

[0172] In one implementation, map matching can be performed on multiple path segments according to the following steps S301 and S302:

[0173] Step S301: Based on the starting point and ending point of the path to be matched, perform map matching simultaneously forward from the starting point and backward from the ending point of the path to be matched; end map matching when the starting point and ending point of the path to be matched coincide.

[0174] Step S302: Merge the matching results of forward map matching and backward map matching to obtain the final map matching result.

[0175] In this embodiment, each path segment can be used as the path to be matched in step S301. Map matching is performed forward from the starting point and backward from the ending point of the path segment. Here, "performing map matching" can be done using the methods described in steps S201 and S202. When the starting point and the ending point coincide, the map matching for that path segment can be terminated. The matching results of the forward and backward map matching are merged to form the final map matching result for that path segment. By performing map matching forward and backward simultaneously, the computation time for map matching can be reduced.

[0176] Step S10303: Merge all matching path segments end to end to obtain a high-precision map path that matches the path to be matched.

[0177] In this embodiment, to ensure the integrity of the path, there may be overlap between matching path segments at the boundaries of each path segment. Therefore, the matching path segment with higher confidence is selected as the final result for the overlapping portion based on the confidence levels of the two matching path segments at the boundaries. The confidence level of the matching path segment is obtained during steps S201 and S202. For example, the confidence level can be determined based on the projection distance, or it can be calculated by combining the projection distance with other parameters.

[0178] In one embodiment of the present invention, when a segmented real-time matching method is selected for map matching, step S103 may further include the following steps S10304 to S10309:

[0179] Step S10304: Based on the topological information of the path to be matched, start from the starting point of the path to be matched and traverse forward along the path to be matched.

[0180] Step S10305: Determine if the current map sheet of the high-precision map corresponding to the currently traversed part exists. If yes, proceed to step S10306; otherwise, proceed to step S10307.

[0181] Step S10306: Perform map matching on the path to be matched within the current map area.

[0182] Step S10307: Start the asynchronous download task to download the current map sheet. After the current map sheet is downloaded, perform map matching on the path to be matched within the current map sheet area.

[0183] Step S10308: After the map matching within the current map area is completed, take the end point of the current traversal part as the starting point and jump to step S10304.

[0184] Step S10309: After the path to be matched is traversed, the map matching results of all map sheets are merged to obtain the final map matching result.

[0185] In this embodiment, the "perform map matching" step in steps S10306 and S10307 can be implemented according to the method described in steps S201 and S202.

[0186] In one implementation, the "perform map matching" step in steps S10306 and S10307 can be implemented according to the method described in steps S301 and S302.

[0187] In one implementation, step S10305 may be further configured as follows:

[0188] Determine whether the current map sheet of the high-precision map corresponding to the currently traversed part, as well as the eight map sheets surrounding the current map sheet, already exist.

[0189] Step S10307 can be further configured as follows:

[0190] Start an asynchronous download task to download the current map sheet corresponding to the currently traversed portion, as well as the eight map sheets surrounding the current map sheet.

[0191] In this embodiment, map matching is performed based on the current map sheet and the eight map sheets surrounding the current map sheet, which can determine the completeness of the matching path.

[0192] In one embodiment of the present invention, when an asynchronous matching method is selected for map matching, step S103 may further include the following steps S10310 to S10313:

[0193] Step S10310: Based on the location information of the starting point and ending point of the path to be matched, obtain the matching results of the first and last route segments of the path to be matched.

[0194] In this embodiment, step S10310 may further include the following steps S103101 and S103102:

[0195] Step S103101: Based on the location information of the starting point and ending point of the path to be matched, determine the matching range of the first and last route segments of the path to be matched in the high-precision map.

[0196] Step S103102: Perform map matching on the first and last path segments according to the matching range, and obtain the matching results of the first and last path segments in the high-precision map.

[0197] In this embodiment, the starting and ending points of the path to be matched can be projected onto a high-precision map to determine the matching range of the first and last path segments in the high-precision map. Map matching is then performed on the first and last path segments within the matching range to obtain the matching results. Since the asynchronous matching method takes a long time to perform map matching, the matching results of the first and last path segments can be calculated first and displayed to the user.

[0198] In one implementation, the step of “performing map matching” can use the method described in steps S201 and S202.

[0199] Step S10311: For the part of the path to be matched excluding the first and last path segments, determine the matching method for map matching based on whether the driving device meets the online calculation conditions.

[0200] In this embodiment, for the part of the path to be matched other than the first and last path segments, a method for map matching can be further selected according to the method described in steps S10221 and S10222.

[0201] Step S10312: Based on the determined matching method, obtain the matching results of the part of the path to be matched excluding the first and last path segments.

[0202] In this embodiment, the matching results of the part of the path to be matched, excluding the first and last path segments, can be obtained based on the matching method determined in step S10311.

[0203] Step S10313: Based on the matching results of the parts of the path to be matched excluding the first and last path segments and the matching results of the first and last route segments, obtain the high-precision map path that matches the path to be matched.

[0204] In this embodiment, the matching results obtained in steps S103102 and S10312 can be merged to obtain a high-precision map path for matching the path to be matched.

[0205] In one implementation, after obtaining the matching results of the first and last path segments and displaying them to the user, a matching method can be further selected according to the methods described in steps S10221 and S10222 to perform full map matching on the path to be matched and obtain a high-precision map path that matches the path to be matched.

[0206] In one implementation, see Appendix Figure 2 To be continued Figure 6 The following is based on the appendix Figure 2 To be continued Figure 6 A map matching method according to one embodiment of the present invention will be described. Figure 2 This is a schematic flowchart of the main steps of a map matching method according to an embodiment of the present invention; Figure 3 This is a schematic flowchart of the main steps of a segmented parallel matching method according to an embodiment of the present invention. Figure 4 This is a schematic flowchart of the main steps of a segmented real-time matching method according to an embodiment of the present invention. Figure 5 This is a schematic flowchart of the main steps of an asynchronous matching method according to an embodiment of the present invention; Figure 6 This is a schematic flowchart of the main steps of a head-to-tail matching method according to an embodiment of the present invention.

[0207] In this embodiment, the driving device is a vehicle, such as... Figure 2As shown, upon receiving the path to be matched (in the regular map) from the navigation system of the driving device, it can first determine whether the vehicle has the online computing capabilities to decide whether the current map matching is performed on the vehicle or in the cloud. If the vehicle has the online computing capabilities, map matching is performed in the cloud to obtain a matching high-precision map (HD map) path; if the vehicle does not have the online computing capabilities, map matching is performed on the vehicle to obtain a matching high-precision map (HD map) path.

[0208] When performing map matching in the cloud, a segmented parallel matching method can be used, such as... Figure 3 As shown, the segmented parallel matching method may include the following steps S401 to S409:

[0209] Step S401: Is the full map area included? If yes, proceed to step S402; otherwise, end.

[0210] In this embodiment, when a map matching request is received, it is first determined whether it includes all the map sheets of the high-precision maps required for the navigation route (the path to be matched).

[0211] Step S402: Find the starting point.

[0212] Step S403: Traverse forward based on the starting point and the connecting lines.

[0213] In this embodiment, the entire navigation route can be traversed along the connecting lines on the regular map, starting from the starting point of the navigation path on the regular map.

[0214] Step S404: Determine whether all navigation routes have been traversed; if yes, proceed to step S407; if no, proceed to step S405.

[0215] Step S405: Determine whether the current connection meets the cut-off condition; if yes, proceed to step S406; if no, proceed to step S403.

[0216] Step S406: Save the current truncation point as one of the starting points for the bullish trend, then jump to step S403.

[0217] In this implementation, when the truncation condition is met, the currently truncated point can be used as the starting point for the next traversal.

[0218] Step S407: All starting points perform multi-head parallel calculations to match routes.

[0219] In this embodiment, map matching can be performed in parallel from the starting points of multiple path segments obtained in segments.

[0220] Step S408: Merge the first and last matching routes.

[0221] In this embodiment, the map matching results of each path segment are merged from beginning to end.

[0222] Step S409: Generate a new merged route.

[0223] In this embodiment, the route that is merged from beginning to end can be used as a high-precision map route for navigation route matching.

[0224] When performing map matching on the vehicle side, a segmented real-time matching method can be used. For example... Figure 4 As shown, the segmented real-time matching method includes the following steps S501 to S510:

[0225] Step S501: Find the starting point.

[0226] In this embodiment, the starting point of the navigation route can be found first.

[0227] Step S502: Extend the map sheet to the next segment of the navigation route based on the starting point;

[0228] Step S503: Determine if the map sheet exists; if yes, proceed to step S504; if no, proceed to step S505.

[0229] Step S504: Update the new starting point and jump to step S502;

[0230] Step S505: Download task.

[0231] In this implementation, the route can be extended from the starting point to determine if a high-resolution map sheet exists for the next segment of the navigation route. If it exists, the route continues to extend to the next high-resolution map sheet; if it does not exist, an asynchronous download task is initiated to download the high-resolution map sheet.

[0232] Step S506: Update the new starting point.

[0233] Step S507: Determine if the map sheet exists; if yes, proceed to step S508; if no, continue waiting.

[0234] Step S510: Calculate the matching route based on the map sheet.

[0235] Step S509: Update the matching results.

[0236] Step S510: Determine whether all navigation routes have been traversed; if yes, end; if no, proceed to step S506.

[0237] When the navigation scenario is a recalculated navigation scenario, and the path length is greater than or equal to the preset length, asynchronous matching methods can be used for map matching. For example... Figure 5As shown, the asynchronous matching method may include the following steps S601 to S606:

[0238] Step S601: Determine whether it is a recalculated route (recalculated navigation scenario) and whether it meets the asynchronous calculation conditions (path length is greater than or equal to preset length); if yes, jump to step S602; if no, jump to step S605.

[0239] Step S602: Obtain the range of the beginning and end routes (the matching range in the high-precision map).

[0240] Step S603: Obtain the matching results of the first and last routes.

[0241] Step S604: Send the results (display the matching results of the first and last routes to the user).

[0242] Step S605: Select a full-scale map matching method based on whether the vehicle has the conditions for online calculation.

[0243] In this embodiment, the map matching method for full-scale calculation can be selected based on whether the vehicle has the conditions for online calculation. If the conditions for online calculation are met, the segmented parallel matching method is selected; if the conditions for online calculation are not met, the segmented real-time matching method is selected.

[0244] Step S606: Update the matching results.

[0245] When using segmented real-time matching, segmented parallel matching, and asynchronous matching methods, the first-and-last matching method can be used as an optional supplementary method, such as... Figure 6 As shown, the first-to-last matching method may include the following steps S701 to S704:

[0246] Step S701: Find the starting point (starting point) and ending point of the navigation route.

[0247] Step S702: Start-up calculation task.

[0248] In this embodiment, the starting point calculation task can be to match forward from the starting point and determine whether the starting point and the ending point coincide; if they do not coincide, the starting point is updated; if they coincide, the starting point calculation task ends.

[0249] Step S703: Endpoint calculation task.

[0250] In this embodiment, the endpoint calculation task can be to match the endpoint backwards and determine whether the starting point and the endpoint coincide; if they do not coincide, the endpoint is updated; if they coincide, the endpoint calculation task ends.

[0251] Step S704: Merge the matching results.

[0252] In this implementation, the matching results are merged after both the starting extreme task and the ending calculation task have been completed.

[0253] It should be noted that although the steps in the above embodiments are described in a specific order, those skilled in the art will understand that in order to achieve the effects of the present invention, different steps do not necessarily have to be executed in such an order. They can be executed simultaneously (in parallel) or in other orders, and these variations are all within the scope of protection of the present invention.

[0254] Those skilled in the art will understand that all or part of the processes in the method of the above embodiment of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable storage medium can include any entity or device capable of carrying the computer program code, a medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory, a random access memory, an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc. It should be noted that the content included in the computer-readable storage medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable storage medium does not include electrical carrier signals and telecommunication signals.

[0255] Furthermore, the present invention also provides a control device. In one embodiment of the control device according to the present invention, the control device includes a processor and a storage device. The storage device can be configured to store a program for executing the map matching method of the above-described method embodiments, and the processor can be configured to execute the program in the storage device. This program includes, but is not limited to, a program for executing the map matching method of the above-described method embodiments. For ease of explanation, only the parts related to the embodiments of the present invention are shown; for specific technical details not disclosed, please refer to the method section of the embodiments of the present invention. This control device can be a control device device comprising various electronic devices.

[0256] Furthermore, the present invention also provides a computer-readable storage medium. In one embodiment of the computer-readable storage medium according to the present invention, the computer-readable storage medium can be configured to store a program that performs the map matching method of the above-described method embodiments. This program can be loaded and run by a processor to implement the above-described map matching method. For ease of explanation, only the parts related to the embodiments of the present invention are shown; for specific technical details not disclosed, please refer to the method section of the embodiments of the present invention. The computer-readable storage medium can be a storage device device comprising various electronic devices. Optionally, in the embodiments of the present invention, the computer-readable storage medium is a non-transitory computer-readable storage medium.

[0257] Furthermore, the present invention also provides a driving device. In one embodiment of the driving device according to the present invention, the driving device includes the control device described in the control device embodiment above.

[0258] Furthermore, it should be understood that since the various modules are only provided to illustrate the functional units of the device of the present invention, the physical devices corresponding to these modules may be the processor itself, or a part of the processor's software, hardware, or a combination of software and hardware. Therefore, the number of modules shown in the figures is merely illustrative.

[0259] Those skilled in the art will understand that the various modules in the device can be adaptively split or combined. Such splitting or combining of specific modules will not cause the technical solution to deviate from the principles of the present invention; therefore, the technical solutions after splitting or combining will fall within the protection scope of the present invention.

[0260] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A map matching method applied to a driving device, characterized in that, The method includes: The current map matching scenario is determined based on the navigation information of the driving device and the information of the path to be matched. Based on the current map matching scenario or whether the current map matching scenario and the driving device meet the online calculation conditions, a matching method for map matching is determined; Based on the determined matching method, map matching is performed on the path to be matched to obtain a high-precision map path that matches the path to be matched. The map matching scenario includes asynchronous matching scenario and non-asynchronous matching scenario, and the map matching method includes asynchronous matching method. The step of "determining the matching method for map matching based on the current map matching scenario or whether the current map matching scenario and the driving device meet the online calculation conditions" includes: When the map matching scenario is an asynchronous matching scenario, the asynchronous matching method is selected for map matching; When the map matching scenario is a non-asynchronous matching scenario, the matching method for map matching is determined based on whether the driving device meets the online calculation conditions.

2. The map matching method according to claim 1, characterized in that, When an asynchronous matching method is selected for map matching, the step of "performing map matching on the path to be matched based on the determined matching method to obtain a high-precision map path that matches the path to be matched" includes: Based on the location information of the starting point and the ending point of the path to be matched, obtain the matching results of the first and last route segments of the path to be matched; For the part of the path to be matched, excluding the first and last path segments, a matching method for map matching is determined based on whether the driving device meets the online calculation conditions; Based on the determined matching method, the matching results of the part of the path to be matched, excluding the first and last path segments, are obtained; Based on the matching results of the part of the path to be matched excluding the first and last path segments and the matching results of the first and last route segments, a high-precision map path matching the path to be matched is obtained.

3. The map matching method according to claim 2, characterized in that, The step of "obtaining the matching results of the first and last route segments of the path to be matched based on the location information of the starting and ending points of the path to be matched" includes: Based on the location information of the starting point and the ending point of the path to be matched, determine the matching range of the first and last route segments of the path to be matched in the high-precision map; Based on the matching range, map matching is performed on the first and last path segments to obtain the matching results of the first and last path segments in the high-precision map.

4. The map matching method according to claim 1, characterized in that, The information of the path to be matched includes at least the path length of the path to be matched. The step of "determining the current map matching scene based on the navigation information of the driving device and the information of the path to be matched" includes: Based on the navigation information of the driving device, determine whether the current navigation scenario of the driving device is a recalculated navigation scenario; If the navigation scenario is a recalculated navigation scenario and the path length is greater than or equal to the preset length, then the current map matching scenario is determined to be an asynchronous matching scenario. If the navigation scenario is not a recalculated navigation scenario or the path length is less than the preset length, then the current map matching scenario is determined to be a non-asynchronous matching scenario.

5. The map matching method according to claim 1 or 2, characterized in that, The map matching method further includes a segmented parallel matching method and a segmented real-time matching method. The step of "determining the matching method for map matching based on whether the driving device meets the online calculation conditions" includes: When the driving device meets the online calculation conditions, the segmented parallel matching method is selected for map matching. When the driving device does not meet the online calculation conditions, a segmented real-time matching method is selected for map matching.

6. The map matching method according to claim 5, characterized in that, When the segmented parallel matching method is selected for map matching, the step of "performing map matching on the path to be matched based on the determined matching method to obtain a high-precision map path that matches the path to be matched" includes: Based on the topology information of the path to be matched, the path to be matched is segmented to obtain multiple path segments; Multiple path segments are matched in parallel to obtain the matching path segments for each path segment in the high-precision map. All matching path segments are merged end to end to obtain a high-precision map path that matches the path to be matched.

7. The map matching method according to claim 6, characterized in that, The step of "segmenting the path to be matched into multiple path segments based on the topology information of the path to be matched" includes: Based on the topology information of the path to be matched, starting from the starting point of the path to be matched, traverse forward along the path to be matched, and determine whether the connecting line currently traversed satisfies the truncation condition. When the currently traversed connecting line meets the truncation condition, save the path segment corresponding to the currently traversed connecting line, and take the end point of the currently traversed connecting line as the new starting point, and jump to the step of "traversing forward along the path to be matched and determining whether the currently traversed connecting line meets the truncation condition". Once the entire path to be matched has been traversed, proceed to the step of "parallel map matching of multiple path segments".

8. The map matching method according to claim 7, characterized in that, The method further includes determining the truncation condition according to the following steps: Determine whether the currently traversed connecting lines have reached a preset length threshold; Determine whether the shape point density of the currently traversed position of the path to be matched reaches a preset density threshold; When the connecting line reaches the length requirement and the density of the shape points reaches the density threshold, it is determined that the connecting line being traversed currently meets the truncation condition.

9. The map matching method according to claim 7, characterized in that, The steps of "merging all matching path segments end to end to obtain a high-precision map path that matches the path to be matched" include: When merging the beginning and end of the matching path segments, if there is an overlap at the boundary of two matching path segments, the matching path segment with the highest confidence among the two matching path segments is selected as the final result of the overlapping part.

10. The map matching method according to claim 5, characterized in that, When a segmented real-time matching method is selected for map matching, the step of "performing map matching on the path to be matched based on the determined matching method to obtain a high-precision map path that matches the path to be matched" includes: Based on the topology information of the path to be matched, start from the starting point of the path to be matched and traverse forward along the path to be matched; Determine if the current map sheet of the high-precision map corresponding to the currently traversed portion exists; If so, perform map matching on the path to be matched within the current map area; If not, start an asynchronous download task to download the current map sheet. After the current map sheet is downloaded, perform map matching on the path to be matched within the current map sheet area. Once the map matching within the current map area is completed, the end point of the current traversal portion is taken as the starting point, and the process jumps to the step of "starting from the starting point of the path to be matched and traversing forward along the path to be matched". Once the path to be matched has been traversed, the map matching results of all map sheets are merged to obtain the final map matching result.

11. The map matching method according to claim 10, characterized in that, The steps for "determining whether the current map sheet corresponding to the currently traversed portion exists" include: Determine whether the current map sheet of the high-precision map corresponding to the currently traversed part and the eight map sheets surrounding the current map sheet already exist; The steps to "start an asynchronous download task to download the current map sheet" include: Start an asynchronous download task to download the current map sheet corresponding to the currently traversed portion, as well as the eight map sheets surrounding the current map sheet.

12. The map matching method according to any one of claims 1-11, characterized in that, The method further includes performing map matching on the path to be matched according to the following steps: Based on the starting point and ending point of the path to be matched, map matching is performed simultaneously forward from the starting point and backward from the ending point of the path to be matched; map matching ends when the starting point and ending point of the path to be matched coincide. The matching results of forward map matching and backward map matching are combined to form the final map matching result. And / or, The steps for "performing map matching" include: Obtain the projected distance between the shape points of the current path to be matched and the path on the high-precision map; The map matching result is obtained based on the projection distance.

13. A control device, comprising a processor and a storage device, said storage device being adapted to store a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by the processor to perform the map matching method according to any one of claims 1 to 12.

14. A computer-readable storage medium storing a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by a processor to perform the map matching method according to any one of claims 1 to 12.

15. A driving device, characterized in that, The driving device includes the control device as described in claim 13.

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