Road recognition method, device and equipment based on inertial navigation

Abstract

This invention provides a road recognition method, apparatus, and device based on inertial navigation, comprising the following steps: acquiring the original navigation planning path information of a target object and extracting the actual driving information of the target object; extracting driving trajectory feature information based on the actual driving information, and obtaining driving change based on the driving trajectory feature information and the original navigation planning path information; updating the driving road information of the target object based on the driving change and the driving trajectory feature information. By comparing the actual driving information of the target object with the original navigation path information, the actual driving road of the vehicle can be identified more accurately.

Description

Technical Field

[0001] This invention relates to the field of navigation technology, and more specifically to a road identification method, apparatus, and device based on inertial navigation. Background Technology

[0002] An inertial navigation system, also known as an inertial reference system, is an autonomous navigation system that does not rely on external information or radiate energy to the outside. Its basic working principle is based on Newton's laws of motion. By measuring the acceleration of the carrier in the inertial reference frame, integrating it over time, and transforming it into the navigation coordinate system, information such as velocity, yaw angle, and position in the navigation frame can be obtained.

[0003] With increasingly in-depth research into inertial navigation technology, inertial navigation systems, combined with map matching technology or other guidance technologies, have gradually expanded their applications from the defense sector to aerospace, aviation, maritime, and automotive industries. However, in the automotive industry, when a vehicle enters a parallel road, because the two parallel roads in the map data are close in distance and have the same direction, it is difficult to accurately identify the vehicle's actual driving path by comparing the direction and distance changes and differences provided by the inertial navigation system with the road distances and angles in the map data. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defect of the prior art in that it cannot accurately identify the actual driving road of the vehicle, thereby providing a road identification method, device and equipment based on inertial navigation.

[0005] According to a first aspect, embodiments of the present invention provide a road recognition method based on inertial navigation, comprising the following steps: obtaining original navigation planning path information of a target object and extracting actual driving information of the target object; extracting driving trajectory feature information based on the actual driving information; obtaining driving change based on the driving trajectory feature information and the original navigation planning path information; and updating the driving road information of the target object based on the driving change and the driving trajectory feature information.

[0006] Optionally, the extraction of driving trajectory feature information from the actual driving information includes: extracting latitude and longitude information based on the original navigation planning path information; obtaining the driving trajectory of the target object based on the latitude and longitude information, and extracting driving trajectory feature information.

[0007] Optionally, the step of extracting latitude and longitude information based on the original navigation planning path information includes: obtaining the location information of the target object based on the original navigation planning path information; and extracting the latitude and longitude information of the target object based on the location information of the target object.

[0008] Optionally, obtaining the driving trajectory of the target object based on the latitude and longitude information and extracting driving trajectory feature information includes: obtaining the actual location information of the target object based on the latitude and longitude information and the driving trajectory of the target object; obtaining the location change information of the target object based on the actual location information and the original navigation planning path information; and extracting driving trajectory feature information based on the location change information of the target object.

[0009] Optionally, obtaining the driving change based on the driving trajectory feature information and the original navigation planning path information includes: determining the change in the perpendicular length between the actual location information and the centerline of the original navigation planning path based on the actual location information, and obtaining the driving change based on the change in the perpendicular length.

[0010] Optionally, the step of extracting latitude and longitude information based on the original navigation planning path information includes: obtaining the location information of road branching points within a preset driving path collection range based on the original navigation planning path information; and extracting the latitude and longitude information of the road branching points based on the location information of the road branching points.

[0011] Optionally, updating the target object's driving road information based on the change in driving distance and the driving trajectory feature information includes: determining the target object's driving path at the road branch point based on the change in driving distance, the driving trajectory feature information, and the location information of the road branch point; determining the change in the target object's driving position based on the driving path and the original navigation planning path information; and updating the target object's driving road information based on the change.

[0012] The step of updating the driving road information of the target object based on the changes includes: if it is determined that the changes are deviations from the original navigation planning path information, then updating the driving road information of the target object to the deviated driving path; if it is determined that the changes are continued driving along the original navigation planning path information, then updating the driving position of the target object based on the original navigation planning path information.

[0013] According to a second aspect, embodiments of the present invention also provide a road recognition device based on inertial navigation, comprising: a communication module for acquiring original navigation planning path information of a target object and extracting actual driving information of the target object; an information processing module for extracting driving trajectory feature information based on the actual driving information; an information analysis module for acquiring driving change based on the driving trajectory feature information and the original navigation planning path information; and a route planning module for updating the driving road information of the target object based on the driving change and the driving trajectory feature information.

[0014] According to a third aspect, embodiments of the present invention also provide a road identification device based on inertial navigation, comprising: a communication unit, a memory, and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the method described in the first aspect or any optional embodiment.

[0015] According to a fourth aspect, embodiments of the present invention also provide a machine-readable storage medium, characterized in that the machine-readable storage medium stores machine-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the method described in the first aspect or any of the optional embodiments.

[0016] The technical solution of this invention has the following advantages:

[0017] This invention provides a road recognition method, apparatus, and device based on inertial navigation. The method includes the following steps: acquiring the original navigation planning route of a target object; extracting actual driving information based on the original navigation planning route; extracting driving trajectory features of the target object based on the actual driving information; acquiring the driving change amount of the target object based on the driving trajectory feature information and the original navigation planning route information; and updating the driving road information of the target object in real time based on the driving change amount. By acquiring the actual driving trajectory of the target object and the driving change amount of the original navigation planning route through inertial navigation, the actual driving road of the target object can be accurately identified, and the navigation information can be updated in a timely manner. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 The flowchart is a specific example of a road recognition method based on inertial navigation in an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram illustrating an example of driving change in a road recognition method based on inertial navigation according to an embodiment of the present invention.

[0021] Figure 3 This is another example of a driving change in a road recognition method based on inertial navigation according to an embodiment of the present invention;

[0022] Figure 4This is a schematic diagram illustrating an example of calculating the perpendicular length in a road recognition method based on inertial navigation according to an embodiment of the present invention.

[0023] Figure 5 This is a schematic diagram illustrating an example of determining the location of road divergence points in a road identification method based on inertial navigation according to an embodiment of the present invention.

[0024] Figure 6 This is a schematic diagram illustrating a road location determination example in a road identification method based on inertial navigation according to an embodiment of the present invention.

[0025] Figure 7 This is a schematic diagram illustrating a driving path update example in a road recognition method based on inertial navigation according to an embodiment of the present invention.

[0026] Figure 8 This is another example of driving path updating in a road recognition method based on inertial navigation according to an embodiment of the present invention;

[0027] Figure 9 This is a schematic diagram illustrating a specific example of a road identification device based on inertial navigation in an embodiment of the present invention.

[0028] Figure 10 This is a structural diagram of a specific example of a road identification device based on inertial navigation in an embodiment of the present invention. Detailed Implementation

[0029] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0031] This invention relates to an embodiment of the invention that uses inertial navigation to obtain the actual driving trajectory of a target object and the changes in the original navigation planned path, thereby updating the navigation path information. The following embodiments all use a car as an example, and are merely preferred embodiments of the invention. In practical applications, it can also be applied to aerospace, aviation, maritime, and other technical fields, but the invention is not limited thereto.

[0032] Figure 1 A flowchart of a road recognition method based on inertial navigation according to an embodiment of the present invention is shown. The method includes the following steps:

[0033] S100: Obtain the original navigation planning path information of the target object and extract the actual driving information of the target object.

[0034] Specifically, the method involves obtaining the original navigation planning path information of the target object based on inertial navigation, obtaining surrounding map data based on the original navigation planning path information, and extracting the actual driving information of the target object based on the surrounding map data. In practical applications, the original navigation planning path information of the car may be, for example, driving on a straight road with at least two lanes or driving on a non-straight road; this invention is not limited to these limitations.

[0035] S200: Extract driving trajectory feature information based on the actual driving information.

[0036] Specifically, the vehicle's driving trajectory feature information is extracted based on the actual driving information. The driving trajectory feature information refers to the original driving trajectory on the map based on the surrounding map data and the original navigation planning path information, thereby obtaining the vehicle's driving trajectory based on the surrounding map data.

[0037] S300: Obtain the amount of change in driving based on the driving trajectory feature information and the original navigation planning path information.

[0038] Specifically, based on the surrounding map data, the driving trajectory feature information and the original navigation planning path information are compared and calculated to obtain the inertial navigation offset of the vehicle, thereby obtaining the driving change.

[0039] S400: Update the driving road information of the target object based on the driving change and the driving trajectory feature information.

[0040] Specifically, based on the change in driving speed and the driving trajectory feature information, the accurate location of the target object is determined, and the driving road information of the target object is updated based on the inertial navigation trend.

[0041] In this embodiment of the invention, the original navigation planning route of the target object is obtained, the actual driving information is extracted based on the original navigation planning route, and the driving trajectory features of the target object are extracted based on the actual driving information. The driving trajectory feature information and the original navigation planning route information are used to obtain the driving change amount of the target object, and the driving road information of the target object is updated in real time based on the driving change amount, thereby accurately identifying the actual driving road of the target object and updating the navigation information in a timely manner.

[0042] In an optional embodiment of the present invention, the extraction of driving trajectory feature information from the actual driving information includes the following steps:

[0043] (1) Extract latitude and longitude information based on the original navigation planning path information;

[0044] (2) Obtain the driving trajectory of the target object based on the latitude and longitude information, and extract the driving trajectory feature information.

[0045] Specifically, map data is obtained based on the original navigation planning path information, and the location and latitude / longitude information of the target object and the driving road are extracted based on the map data. The driving trajectory of the target object is obtained based on the latitude / longitude information, and driving trajectory feature information is extracted. In practical applications, map data and latitude / longitude information can be obtained based on a combination of sensors such as GNSS and vehicle body sensors in inertial navigation, but this invention is not limited to this.

[0046] In this embodiment of the invention, map data is obtained through the original navigation planning path information, and the latitude and longitude information of the target object's driving path and the driving road is extracted based on the map data. The driving trajectory of the target object is obtained based on the latitude and longitude information, and driving trajectory feature information is extracted based on the driving trajectory. This allows for a more accurate acquisition of the target object's driving path. At the same time, extracting the driving trajectory feature information of the target object based on the latitude and longitude information allows for a more accurate acquisition of the target object's inertial navigation trend information.

[0047] In an optional embodiment of the present invention, the step of extracting latitude and longitude information based on the original navigation planning path information includes the following steps:

[0048] (1) Obtain the location information of the target object based on the original navigation planning path information;

[0049] (2) Extract the latitude and longitude information of the target object based on the location information of the target object.

[0050] In this embodiment of the invention, map data is obtained through the original navigation planning path information, the location information of the target object is obtained based on the map data, and the latitude and longitude information of the target object's location is extracted through the location information, thereby enabling the accurate acquisition of the target object's driving path and changes in the driving path based on the latitude and longitude information of the target object's location.

[0051] In an optional embodiment of the present invention, obtaining the driving trajectory of the target object based on the latitude and longitude information and extracting the driving trajectory feature information includes the following steps:

[0052] (1) Obtain the actual location information of the target object based on the latitude and longitude information and the driving trajectory of the target object;

[0053] (2) Obtain the target object's position change information based on the actual location information and the original navigation planning path information, and extract driving trajectory feature information based on the target object's position change information.

[0054] In this embodiment of the invention, based on the acquired latitude and longitude information and the target object's driving trajectory, the latitude and longitude information of the target object during its driving process is obtained, and the actual location information of the target object is determined accordingly. Based on the actual location information and the original navigation planning path information, the changes between the target object's driving path and the planned path are obtained, thus acquiring the target object's location change information. Based on the target object's location change information, the driving trajectory feature information of the target object is extracted. This embodiment obtains the target object's actual location by acquiring its latitude and longitude information and comparing it with the original navigation information. Based on the change information, driving trajectory feature information is extracted, thereby accurately identifying the target object's driving path and reducing the error between the planned path and the actual driving path.

[0055] In an optional embodiment of the present invention, obtaining the driving change based on the driving trajectory feature information and the original navigation planning path information includes the following steps:

[0056] (1) Determine the change in the perpendicular length between the actual location information and the center line of the original navigation planning path based on the actual location information, and obtain the change in driving distance based on the change in the perpendicular length.

[0057] Specifically, based on the actual location information of the target object, the perpendicular length between the target object's location and the centerline of the original navigation path is determined, and the change in perpendicular length during the entire driving process is obtained. The maximum change in perpendicular length is then obtained, and this is used to determine the total driving change. In practical applications, the positional situation between the actual location information of the target object and the original navigation path can be, for example, the target object deviating from the original navigation path only on one side, or the target object deviating from the original navigation path on both sides. If the target object deviates from the original navigation path on one side, then the change in perpendicular length = maximum perpendicular length - minimum perpendicular length. Figure 2 As shown; if the target object deviates from the original navigation path on either side, then the change in perpendicular length = the maximum perpendicular length on the left + the maximum perpendicular length on the right, as described above. Figure 3 As shown.

[0058] Specifically, the calculation of the perpendicular length is based on... Figure 4 For example, the length of the perpendicular line L po =L lp *sin(a) where, L lp Calculated based on latitude and longitude information, a = θ lp -θ lr , where θ lp The angle θ from L to P is calculated based on latitude and longitude information. lrThe angle from L to R is calculated based on latitude and longitude information.

[0059] In this embodiment of the invention, the actual position of the target object is obtained based on latitude and longitude information, and the driving change of the target object is obtained based on the maximum change in the length of the perpendicular line between the actual position and the center line of the original navigation planning path. The driving change of the target object can be obtained more accurately through latitude and longitude information, and the driving change of the target object during the driving process can be accurately calculated.

[0060] In an optional embodiment of the present invention, the step of extracting latitude and longitude information based on the original navigation planning path information includes the following steps:

[0061] (1) Obtain the location information of road branching points within the preset driving path collection range based on the original navigation planning path information;

[0062] (2) Extract the latitude and longitude information of the road branching point based on the location information of the road branching point.

[0063] Specifically, map data and latitude / longitude information are obtained based on the original navigation planning path information. The location information of road branching points is then obtained based on the map data, and it is determined whether the branching points are within a preset collection range. The road branching points are obtained based on the road location information obtained from the map data. The location information of main roads, auxiliary roads, and ramps is extracted, and the location information of the road branching points is obtained based on the positional relationship between the main roads, auxiliary roads, and ramps. In practical applications, when vehicles travel on parallel roads, the location information of main roads, auxiliary roads, and ramps is extracted based on the map data. The main roads and auxiliary roads are close in distance and have the same direction, and the ramps are located between the main roads and auxiliary roads. This is how the location information of the road branching points is obtained. Figure 5 As shown

[0064] If the branching point is within a preset collection range, the latitude and longitude information of the branching point is extracted based on its location information. In practical applications, the preset collection range can be a distance of 100 meters from the road branching point. The map data includes, but is not limited to, the target object having passed through the road branching point, roads with similar angles before the branching point, main roads and auxiliary roads after the branching point with similar angles to the branching point, straight roads, and non-straight roads. Based on the map data, the positional relationship between the non-straight roads and straight roads is determined. Figure 6 For example, through θ = θ p -θ r Determine the positional relationship between straight roads and non-straight roads, where θ p The angle θ of line segment LP is calculated based on latitude and longitude information. rThe angle of the LR line segment is calculated based on latitude and longitude information. If θ > 0, the non-straight road is located to the right of the straight road. If θ < 0, the non-straight road is located to the left of the straight road.

[0065] In this embodiment of the invention, map data and latitude / longitude information are obtained through the original navigation planning path information. The location information of the branching points within the preset driving path collection range is then obtained, and the latitude / longitude information of the branching points is extracted. The positional relationship between straight roads and non-straight roads in the map data is determined by the latitude / longitude information, thereby accurately obtaining the location information and latitude / longitude information of the road branching points.

[0066] In an optional embodiment of the present invention, updating the driving road information of the target object based on the driving change amount and the driving trajectory feature information includes the following steps:

[0067] (1) Determine the driving path of the target object at the road branch point based on the driving change, the driving trajectory feature information and the location information of the road branch point;

[0068] (2) Determine the changes in the driving position of the target object based on the driving path and the original navigation planning path information;

[0069] (3) Update the driving road information of the target object based on the changes.

[0070] In this embodiment of the invention, the real-time driving position of the target object is obtained based on the change amount, the driving trajectory feature information, and the location information of the road branching point. The driving path of the target object at the road branching point is determined based on a preset driving path collection range. The change in the target object's driving position is determined based on the driving path and the original navigation planning path information, and the driving road information of the target object is updated in a timely manner. By determining the driving path of the target object near the road branching point through the change amount, the driving trajectory feature information, and the location information of the road branching point, and by determining the change in the target object's driving position, navigation information can be updated in a timely manner, ensuring that the target object's driving position and navigation information are always associated.

[0071] In an optional embodiment of the present invention, updating the driving road information of the target object based on the changes includes the following steps:

[0072] (1) If it is determined that the change is a deviation from the original navigation planning path information, then the driving road information of the target object is updated to the deviated driving path;

[0073] (2) If it is determined that the change is to continue driving along the original navigation planning path information, then update the driving position of the target object based on the original navigation planning path information.

[0074] Specifically, if it is determined based on the changes that the target object has deviated from the original navigation planning path, the navigation information is updated in a timely manner, and the driving road information of the target object is updated to the deviated driving path. If it is determined based on the changes that the target object has not deviated from the original navigation planning path, navigation information is continuously provided to the target object based on the original navigation planning path information, and the driving position information of the target object is updated in a timely manner.

[0075] In practical applications, the original navigation planned path information may be, for example, going straight, while the actual deviated driving path may be, for example, entering a fork in the road and then entering a switchover point between main and auxiliary roads. Figure 7 As shown, within the preset driving route collection range, at least two lanes of straight road width (A), non-straight road width (B), and the distance between road centerlines (C) are obtained from the map data. Based on the relationship between driving changes and the straight road width (A), non-straight road width (B), and the distance between road centerlines (C), the road is switched in real time. The original navigation planned route information may be, for example, entering a branch point, entering a main / auxiliary road switching point, which is actually a deviated straight route. Figure 8 As shown, within the preset driving route collection range, the map data is obtained, including at least two lanes of straight road width (A), non-straight road width (B), and the distance between road centerlines (C). By analyzing the relationship between driving changes and the straight road width (A), non-straight road width (B), and the distance between road centerlines (C), the road is switched in real time.

[0076] In this embodiment of the invention, by observing the changes in the target object's driving status, it is timely determined whether the target object has deviated from the original navigation planning path, and the driving position of the target object is updated in a timely manner based on the original navigation planning path information. If it is determined that the change indicates a deviation from the original navigation planning path information, the driving road information of the target object is updated to the deviated driving path; if it is determined that the change indicates continued driving along the original navigation planning path information, the driving position of the target object is updated based on the original navigation planning path information, thereby enabling accurate and timely planning of a suitable driving path for the target object, improving efficiency.

[0077] like Figure 9 As shown, this embodiment of the invention provides a road recognition device based on inertial navigation, comprising: a communication module 1, an information processing module 2, an information analysis module 3, and a route planning module 4, wherein...

[0078] Communication module 1 is used to obtain the original navigation planning path information of the target object and extract the actual driving information of the target object. For details, please refer to the relevant description of step S100 in any of the above method embodiments.

[0079] Information processing module 2 is used to extract driving trajectory feature information based on the actual driving information, and to obtain driving change based on the driving trajectory feature information and the original navigation planning path information. For details, please refer to the relevant description of step S200 in any of the above method embodiments.

[0080] Information analysis module 3 is used to obtain the amount of driving change based on the driving trajectory feature information and the original navigation planning path information. For details, please refer to the relevant description of step S300 in any of the above method embodiments.

[0081] Route planning module 4 is used to update the driving road information of the target object based on the driving change amount and the driving trajectory feature information. For details, please refer to the relevant description of step S400 in any of the above method embodiments.

[0082] In this embodiment of the invention, the original navigation planning route of the target object is obtained, the actual driving information is extracted based on the original navigation planning route, and the driving trajectory features of the target object are extracted based on the actual driving information. The driving trajectory feature information and the original navigation planning route information are used to obtain the driving change amount of the target object, and the driving road information of the target object is updated in real time based on the driving change amount, thereby accurately identifying the actual driving road of the target object and updating the navigation information in a timely manner.

[0083] For specific limitations and beneficial effects of an inertial navigation-based road recognition device, please refer to the limitations of an inertial navigation-based road recognition method mentioned above, which will not be repeated here. The various modules of the aforementioned inertial navigation-based road recognition device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in the electronic device, or stored in the memory of the electronic device in software form, so that the processor can call and execute the corresponding operations of each module.

[0084] This invention also provides a road identification device based on inertial navigation, such as... Figure 10 As shown, Figure 10This is a schematic diagram of the structure of a road recognition device based on inertial navigation provided in an optional embodiment of the present invention. The neural navigation positioning computing device may include at least one processor 41, at least one communication interface 42, at least one communication bus 43, and at least one memory 44. The communication interface 42 may include a display screen and a keyboard; optionally, the communication interface 42 may also include a standard wired interface or a wireless interface. The memory 44 may be a high-speed RAM (Random Access Memory) or a non-volatile memory, such as at least one disk storage device. Optionally, the memory 44 may also be at least one storage device located remotely from the aforementioned processor 41. The processor 41 may be combined with... Figure 9 The described apparatus has an application program stored in memory 44, and the processor 41 calls the program code stored in memory 44 to perform the steps of the road recognition method based on inertial navigation in any of the above method embodiments.

[0085] The communication bus 43 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The communication bus 43 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 10 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0086] The memory 44 may include volatile memory, such as random-access memory (RAM); the memory may also include non-volatile memory, such as flash memory, hard disk drive (HDD) or solid-state drive (SSD); the memory 44 may also include a combination of the above types of memory.

[0087] The processor 41 can be a central processing unit (CPU), a network processor (NP), or a combination of CPU and NP.

[0088] The processor 41 may further include a hardware chip. This hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0089] Optionally, memory 44 is also used to store program instructions. Processor 41 can invoke program instructions to implement the present invention. Figures 1-8 The road recognition method based on inertial navigation shown in the embodiment.

[0090] This invention also provides a non-transitory computer storage medium storing computer-executable instructions that can execute the inertial navigation-based road recognition method in any of the above-described method embodiments. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium may also include combinations of the above types of memory.

[0091] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A road recognition method based on inertial navigation, characterized in that, Includes the following steps: Obtain the original navigation planning path information of the target object, and extract the actual driving information of the target object; Extract driving trajectory feature information based on the actual driving information; The amount of change in driving is obtained based on the driving trajectory feature information and the original navigation planning path information; The driving road information of the target object is updated based on the driving change and the driving trajectory feature information; The step of obtaining the driving change based on the driving trajectory feature information and the original navigation planning path information includes: The change in the perpendicular length between the actual location information and the centerline of the original navigation planning path is determined based on the actual location information, and the change in driving distance is obtained based on the change in the perpendicular length. The extraction of latitude and longitude information based on the original navigation planning path information includes: Based on the original navigation planning path information, obtain the location information of road branching points within the preset driving path collection range; Extract the latitude and longitude information of the road branching point based on its location information; The step of updating the driving road information of the target object based on the driving change and the driving trajectory feature information includes: The driving path of the target object at the road branch point is determined based on the driving change, the driving trajectory feature information, and the location information of the road branch point. Based on the driving path and the original navigation planning path information, determine the changes in the target object's driving position; Update the target object's driving road information based on the changes; The method for determining the change in the length of the perpendicular line is as follows: If the target object deviates from the original navigation path on one side, the change in the vertical length is the difference between the maximum and minimum vertical lengths; if the target object deviates from the original navigation path on both sides, the change in the vertical length is the sum of the maximum vertical length on the left and the maximum vertical length on the right.

2. The road recognition method based on inertial navigation according to claim 1, characterized in that, The actual driving information extracts driving trajectory feature information, including: Latitude and longitude information is extracted based on the original navigation planning path information; The driving trajectory of the target object is obtained based on the latitude and longitude information, and the driving trajectory feature information is extracted.

3. The road recognition method based on inertial navigation according to claim 2, characterized in that, The extraction of latitude and longitude information based on the original navigation planning path information includes: The location information of the target object is obtained based on the original navigation planning path information; The latitude and longitude information of the target object is extracted based on the location information of the target object.

4. The road recognition method based on inertial navigation according to claim 2 or 3, characterized in that, The step of obtaining the driving trajectory of the target object based on the latitude and longitude information and extracting driving trajectory feature information includes: The actual location information of the target object is obtained based on the latitude and longitude information and the target object's driving trajectory; Based on the actual location information and the original navigation planning path information, the location change information of the target object is obtained, and the driving trajectory feature information is extracted based on the location change information of the target object.

5. The road recognition method based on inertial navigation according to claim 1, characterized in that, Updating the driving road information of the target object based on the changes includes: If it is determined that the change is a deviation from the original navigation planning path information, then the driving road information of the target object is updated to the deviated driving path; If it is determined that the change indicates continued driving along the original navigation planning path information, then the driving position of the target object is updated based on the original navigation planning path information.

6. A road identification device based on inertial navigation, characterized in that, include: The communication module is used to acquire the original navigation planning path information of the target object and extract the actual driving information of the target object; The information processing module is used to extract driving trajectory feature information based on the actual driving information; The information analysis module is used to obtain the amount of driving change based on the driving trajectory feature information and the original navigation planning path information; The route planning module is used to update the driving road information of the target object based on the driving change and the driving trajectory feature information; The information analysis module is specifically used for: The change in the perpendicular length between the actual location information and the centerline of the original navigation planning path is determined based on the actual location information, and the change in driving distance is obtained based on the change in the perpendicular length. The information analysis module is also used for: Based on the original navigation planning path information, obtain the location information of road branching points within the preset driving path collection range; Extract the latitude and longitude information of the road branching point based on its location information; The route planning module is specifically used for: The driving path of the target object at the road branch point is determined based on the driving change, the driving trajectory feature information, and the location information of the road branch point. Based on the driving path and the original navigation planning path information, determine the changes in the target object's driving position; Update the target object's driving road information based on the changes; The information analysis module is also used for: If the target object deviates from the original navigation path on one side, the change in the vertical length is the difference between the maximum and minimum vertical lengths; if the target object deviates from the original navigation path on both sides, the change in the vertical length is the sum of the maximum vertical length on the left and the maximum vertical length on the right.

7. A road identification device based on inertial navigation, characterized in that, include: The system includes a communication unit, a memory, and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the road recognition method based on inertial navigation as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the road recognition method based on inertial navigation as described in any one of claims 1-5.

Images