Vehicle assisted navigation methods, devices and equipment in scenarios without satellite signals

Abstract

This invention provides a vehicle-assisted navigation method, apparatus, and device in scenarios without satellite signals, belonging to the field of vehicle navigation. The navigation method includes: determining at predetermined time intervals whether the target vehicle's satellite positioning is successful at the current moment; if satellite positioning is successful, recording the vehicle's current position; if satellite positioning fails, acquiring the vehicle's driving trajectory and, based on the vehicle's position recorded before the satellite signal failure, retrieving a road trajectory from an offline map that matches the vehicle's driving trajectory; determining whether the vehicle's driving trajectory and the road trajectory completely match; if the vehicle's driving trajectory and the road trajectory do not completely match, retrieving the road trajectory; if the vehicle's driving trajectory and the road trajectory completely match, providing assisted navigation for the vehicle in future moments based on the road trajectory. This invention achieves vehicle-assisted navigation in environments without satellite signals, avoiding dangerous situations such as getting lost or losing contact.

Description

Technical Field

[0001] This invention relates to the field of vehicle navigation technology, specifically to a vehicle-assisted navigation method in a scenario without satellite signal, a vehicle-assisted navigation device in a scenario without satellite signal, an electronic device, and a computer-readable storage medium. Background Technology

[0002] Satellite signals have wide coverage and increasingly higher accuracy, providing precise positioning services even in remote areas where mobile communication signals are difficult to reach. This has led to the widespread application of satellite positioning technologies, such as GPS (Global Positioning System) and BeiDou, in the automotive positioning field. However, in some special circumstances, cars may not receive satellite signals. For example, damage to the vehicle's satellite positioning equipment, interference from magnetic fields or other factors along the road, or driving into a signal blind spot can all cause satellite positioning to fail. In these situations, without a temporary alternative navigation system, there is a risk of getting lost or losing contact.

[0003] Currently, some patents disclose solutions for vehicle positioning in the absence of satellite signals, but most of these technologies only provide a temporary location output for the vehicle and cannot solve the problem of vehicle navigation. For example, Chinese patent document CN113847914A, published on December 28, 2021, proposes a vehicle positioning method, device, electronic device, and storage medium. The specific implementation method includes: a scene determination module to determine whether the target vehicle's current scene is a satellite-less scene; if it is, a location calculation module is entered; the location calculation module calculates the target vehicle's current driving position based on fifth-generation mobile communication positioning and inertial navigation positioning; a location information generation module generates the target vehicle's current location information based on the calculation result of the target vehicle's current driving position; and the final location information is generated based on the calculation result of the target vehicle's current driving position. Although this positioning method can generate the vehicle's current location information, it cannot provide road trajectories to avoid getting lost or losing contact. Summary of the Invention

[0004] The purpose of this invention is to provide a vehicle-assisted navigation method, device, and equipment in scenarios without satellite signals, so as to solve the problem that in the prior art, only a temporary location output can be provided for the vehicle under conditions without satellite signals, but there is a lack of a navigation system that can be temporarily replaced.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] In a first aspect, the present invention provides a vehicle-assisted navigation method in a scenario without satellite signal. The vehicle-assisted navigation method includes the following steps: determining at predetermined time intervals whether the target vehicle's satellite positioning is successful at the current moment; if satellite positioning is successful, recording the vehicle's current position at the current moment; if satellite positioning fails, acquiring the vehicle's position recorded before the satellite signal failure, and the vehicle's driving trajectory from the current moment to multiple moments before the satellite positioning failure; determining the vehicle's position recorded before the satellite signal failure as the vehicle's starting position; using the vehicle's starting position as a reference, retrieving a road trajectory from an offline map that matches the vehicle's driving trajectory; determining whether the vehicle's driving trajectory and the road trajectory completely match; if the vehicle's driving trajectory and the road trajectory do not completely match, jumping to the above step of retrieving a road trajectory from an offline map using the vehicle's starting position as a reference to update the road trajectory; if the vehicle's driving trajectory and the road trajectory completely match, providing assisted navigation for the vehicle at future moments based on the road trajectory.

[0007] Based on the aforementioned technical means, in the event of satellite positioning failure, the vehicle's driving trajectory is read from the current moment to multiple moments before the satellite positioning failure, and compared with road trajectories retrieved from offline vehicle maps. This allows for the identification of a road trajectory that perfectly matches the vehicle's driving trajectory, thus achieving assisted navigation. Compared to existing methods that predict the vehicle's current location by calculating historical driving positions, this invention, through repeated searching and comparison, can match a road trajectory that perfectly matches the driving trajectory. This not only avoids calculation errors in prediction algorithms but also ensures that the generated assisted navigation information closely approximates the vehicle's actual driving conditions.

[0008] Furthermore, the step of retrieving a road trajectory matching the vehicle's driving trajectory from an offline map based on the vehicle's starting position may include: determining a target displacement based on the maximum allowed speed of the driving segment and a predetermined time step; delineating a target retrieval area from the offline map with the vehicle's current position as the center and the target displacement as the radius; extracting multiple trajectory features of the vehicle's driving trajectory, including the maximum curve radius, maximum curve angle, maximum driving speed, and elevation difference; and retrieving a road trajectory within the target retrieval area that satisfies at least one trajectory feature of the vehicle's driving trajectory.

[0009] Based on the aforementioned technical methods, by extracting multiple trajectory features from the vehicle's driving trajectory and filtering out road trajectories that match these features from the target search range, the search scope can be narrowed, enabling preliminary matching of road trajectories with a certain degree of similarity within a relatively short time. Furthermore, the vehicle's driving trajectory over a certain period often exhibits trajectory features related to the surrounding road environment. For example, when driving on mountain roads, vehicles often encounter sharp turns or inclines. The maximum curve radius, maximum curve angle, and elevation difference encountered during the journey can be extracted as trajectory features for sharp turns or inclines to preliminarily determine which mountainous area the vehicle is located in. Similarly, different lanes have different speed limits; the highest speed encountered during the journey can be extracted as a trajectory feature to preliminarily determine which type of lane the vehicle is in.

[0010] Furthermore, the vehicle-assisted navigation method may also include: determining the azimuth angle between the travel direction of the target vehicle and the meridian or parallel on the offline map at different times, and obtaining the azimuth detection result; determining the distance the target vehicle travels along the azimuth angle at different times, and obtaining the distance detection result; and correcting the matching error between the vehicle's travel trajectory and the road trajectory based on the azimuth detection result and the distance detection result.

[0011] Based on the aforementioned technical means, the error between the vehicle's trajectory and the road trajectory can be corrected segment by segment using the orientation detection results and distance detection results, which can help improve the matching accuracy and determine the precise location of the road trajectory.

[0012] Furthermore, the method of providing assisted navigation for the vehicle based on road trajectory includes: predicting the current position of the vehicle at the current moment based on the road trajectory; updating the current position of the vehicle at the current moment to the offline map; and providing assisted navigation for the vehicle at future moments along the road trajectory, starting from the current position of the vehicle.

[0013] Based on the aforementioned technical methods, by using the vehicle's average speed before satellite signal failure and a predetermined time step, the vehicle's displacement from the moment before satellite positioning failure to the current moment can be estimated. This allows for the prediction of the vehicle's current position, achieving vehicle positioning in environments without satellite signals. Furthermore, based on the matched road trajectory and the predicted vehicle position, offline maps can be used for navigation, enabling assisted navigation in satellite-free environments and preventing dangerous situations such as getting lost or losing contact.

[0014] A second aspect of the present invention provides a vehicle-assisted navigation device for scenarios without satellite signals. The vehicle-assisted navigation device includes a first judgment module, a recording module, an acquisition module, a starting position determination module, a retrieval and comparison module, a second judgment module, a jump update module, and an auxiliary navigation module. The first judgment module is used to determine whether the satellite positioning of the target vehicle is successful at the current moment at predetermined time intervals. The recording module is used to record the current position of the vehicle at the current moment if satellite positioning is successful. The acquisition module is used to acquire the vehicle position recorded before the satellite signal failure, and the vehicle's driving trajectory from the current moment to multiple moments before the satellite positioning failure, if satellite positioning fails. The initial position determination module is used to determine the vehicle's starting position as the position recorded before the satellite signal fails; the retrieval and comparison module is used to retrieve a road trajectory from an offline map that matches the vehicle's driving trajectory, based on the vehicle's starting position; the second judgment module is used to determine whether the vehicle's driving trajectory and the road trajectory completely match; the jump update module is used to jump back to the above step of retrieving the road trajectory from the offline map based on the vehicle's starting position, in the case that the vehicle's driving trajectory and the road trajectory do not completely match, so as to update the road trajectory; the auxiliary navigation module is used to provide auxiliary navigation for the vehicle in future moments based on the road trajectory, in the case that the vehicle's driving trajectory and the road trajectory completely match.

[0015] Based on the above technical means, a vehicle auxiliary navigation device is provided to complete the above vehicle auxiliary navigation method. Using this vehicle auxiliary navigation, a road trajectory that perfectly matches the vehicle's driving trajectory can be found, thereby realizing auxiliary navigation of the car when there is no satellite signal.

[0016] Furthermore, the retrieval and comparison module may include a target displacement determination submodule, a target retrieval area determination submodule, a trajectory feature extraction submodule, and a retrieval submodule; the target displacement determination submodule is used to determine the target displacement based on the maximum allowable vehicle speed of the driving segment and a predetermined time step; the target retrieval area determination submodule is used to delineate the target retrieval area from the offline map with the current position of the vehicle as the center and the target displacement as the radius; the trajectory feature extraction submodule is used to extract multiple trajectory features of the vehicle's driving trajectory, including the maximum curvature radius, maximum curvature angle, maximum driving speed, and elevation difference; the retrieval submodule is used to retrieve a road trajectory within the target retrieval area that satisfies at least one trajectory feature of the vehicle's driving trajectory.

[0017] Based on the above technical means, by extracting multiple trajectory features of vehicle driving trajectories and filtering out road trajectories that match the trajectory features from the target retrieval range, the retrieval range can be narrowed, and road trajectories with a certain degree of similarity can be initially matched in a relatively short time.

[0018] Furthermore, the vehicle-assisted navigation device may also include a orientation determination module, a distance determination module, and a correction module; the orientation determination module is used to determine the azimuth angle between the travel direction of the target vehicle and the longitude or latitude line on the offline map at different times, and obtain the orientation detection result; the distance determination module is used to determine the distance the target vehicle travels in a straight line along the azimuth angle at different times, and obtain the distance detection result; the correction module is used to correct the matching error between the vehicle's travel trajectory and the road trajectory based on the orientation detection result and the distance detection result.

[0019] Based on the aforementioned technical means, the error between the vehicle's trajectory and the road trajectory can be corrected segment by segment using the orientation detection results and distance detection results, which can help improve the matching accuracy and determine the precise location of the road trajectory.

[0020] Furthermore, the auxiliary navigation module may include a current position prediction submodule, a current position update submodule, and a navigation submodule; the current position prediction submodule is used to predict the current position of the vehicle at the current moment based on the road trajectory; the current position update submodule is used to update the current position of the vehicle at the current moment to the offline map; the navigation submodule is used to provide auxiliary navigation for the vehicle in future moments along the road trajectory, starting from the current position of the vehicle.

[0021] Based on the aforementioned technical means, by predicting the current location of the vehicle at the current moment, and using offline maps for navigation based on the matched road trajectory and the predicted current location of the vehicle, it is possible to achieve vehicle-assisted navigation in environments without satellite signals, thus avoiding dangerous situations such as getting lost or losing contact.

[0022] A third aspect of the present invention provides an electronic device comprising a processor and a memory, wherein the memory stores at least one computer program, the at least one computer program being loaded and executed by one or more of the processors to enable the computer to implement the above-described vehicle-assisted navigation method.

[0023] A fourth aspect of the present invention provides a computer-readable storage medium storing at least one piece of program code, which is loaded and executed by a processor to enable a computer to implement the above-described vehicle-assisted navigation method.

[0024] The present invention has at least the following technical effects through the technical solution provided by the present invention:

[0025] (1) Based on offline car maps, this invention determines the road trajectory that perfectly matches the vehicle's driving trajectory by repeatedly matching and comparing the vehicle's driving trajectory before the satellite signal fails with the road trajectory in the offline map, thereby realizing vehicle auxiliary navigation in the absence of satellite signal and avoiding dangerous situations such as getting lost or losing contact.

[0026] This invention utilizes orientation detection results and distance detection results to correct the error between the vehicle's driving trajectory and the road trajectory segment by segment, which can help improve matching accuracy in order to determine the precise location of the road trajectory. Attached Figure Description

[0027] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0028] Figure 1 This is a flowchart illustrating the vehicle-assisted navigation method in a satellite-free scenario provided in the first embodiment of the present invention.

[0029] Figure 2 This is a schematic diagram illustrating the comparison and matching of driving trajectory and road trajectory provided in the first embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of the structure of the vehicle auxiliary navigation device in the absence of satellite signal according to the second embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram of the structure of an electronic device provided in the third embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of a positioning and navigation system provided in the fifth embodiment of the present invention.

[0033] Explanation of reference numerals in the attached figures

[0034] 101-First Judgment Module; 102-Recording Module; 103-Acquisition Module; 104-Starting Position Determination Module; 105-Retrieval and Comparison Module; 106-Second Judgment Module; 107-Jump Update Module; 108-Auxiliary Navigation Module; 109-Direction Determination Module; 110-Distance Determination Module; 111-Correction Module; 201-Processor; 202-Memory. Detailed Implementation

[0035] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0036] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0037] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. In this invention, terms such as "first" and "second" are merely for ease of description and distinction, and should not be construed as indicating or implying relative importance.

[0038] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0039] Example 1

[0040] The first embodiment of the present invention provides a vehicle-assisted navigation method in a scenario without satellite signal. The principle of the vehicle-assisted navigation method is as follows: First, satellite positioning is preferred, and the vehicle positioning is detected every Δt time to determine whether the current satellite positioning signal can locate the vehicle. If satellite positioning can be performed, the vehicle position information obtained by satellite positioning is taken as the current vehicle position, and the corresponding time is t0; otherwise, it is considered that satellite positioning has failed. Based on the current vehicle position recorded before the satellite positioning failed, the vehicle's driving trajectory during the time period (t0-k·Δt) to t0 is read and compared with the road trajectory of the vehicle on the offline map. A matching trajectory is found, thereby determining the vehicle's position and navigation information, and realizing positioning and navigation.

[0041] like Figure 1 As shown, the vehicle-assisted navigation method includes the following steps:

[0042] Step S101: Turn on navigation and perform satellite positioning of the vehicle at predetermined time intervals (denoted as Δt).

[0043] Step S102: Determine whether the vehicle's satellite positioning is successful at the current moment at predetermined time intervals.

[0044] Step S103A: If satellite positioning is successful, record the current time as t0, record the vehicle's current position at time t0, and record this vehicle position as the vehicle's initial position. By continuously repeating this process, the vehicle's initial position can be continuously updated.

[0045] Step S103B: If satellite positioning fails, record the current time as t0, and obtain the initial position coordinates of the vehicle at time t0, as well as the vehicle's trajectory during the period (t0-k·Δt)~t0.

[0046] Here, k is a constant, and its value can be adjusted based on the matching results. The larger the k value, the longer the time required, the longer the vehicle trajectory read, and the higher the subsequent matching accuracy, but the more time and computing power are required.

[0047] The first k-value can be used for matching during the first matching attempt after the satellite signal disappears; the second k-value can be used for matching during the second to nth matching attempts after the satellite signal disappears, with the first k-value being greater than the second k-value. Using a larger k-value for the first matching attempt helps to determine a precise location; using a smaller k-value after a successful matching attempt helps to reduce matching time.

[0048] Step S104: Retrieve road trajectories that match the vehicle's driving trajectory from the offline map.

[0049] For example, the process of retrieving a road trajectory from an offline map that matches the vehicle's driving trajectory may include, but is not limited to, the following sub-steps S1041 to S1044.

[0050] Sub-step S1041: Determine the target displacement based on the maximum speed allowed on the road segment and the predetermined time step.

[0051] In other words, the target displacement is the product of the maximum speed allowed on the road segment and the predetermined time step.

[0052] Sub-step S1042: Using the vehicle's current position as the center and the target displacement as the radius, delineate the target retrieval area from the offline map.

[0053] To ensure that the vehicle's actual road trajectory can be obtained, it is necessary to obtain the vehicle's position coordinates recorded before the satellite signal failed. Using these coordinates as the center, a search area is defined with a radius equal to the maximum speed allowed on the road segment at that time multiplied by Δt. This search area covers multiple roads, and there must be a road trajectory that perfectly matches the vehicle's driving trajectory.

[0054] Sub-step S1043: Extract multiple trajectory features of the vehicle's driving trajectory, including the maximum curvature radius, maximum curvature angle, maximum driving speed, and elevation difference.

[0055] Different driving routes have unique geographical attributes; therefore, a vehicle's trajectory over a certain period often exhibits characteristics of the surrounding road environment. For example, when driving on mountain roads, vehicles often encounter sharp turns or inclines. The maximum curve radius, maximum curve angle, and elevation difference encountered during the journey can be extracted as trajectory features for sharp turns or inclines to preliminarily determine which mountainous area the vehicle is located in. Similarly, different lanes have different speed limits; the highest speed encountered during the journey can be extracted as trajectory features to preliminarily determine which type of lane the vehicle is in.

[0056] By extracting multiple trajectory features of vehicle driving trajectories and filtering out road trajectories that match the trajectory features from the target retrieval range, the retrieval range can be further narrowed, enabling the preliminary matching of road trajectories with a certain degree of similarity in a relatively short time.

[0057] Sub-step S1044: Retrieve at least one trajectory feature that satisfies the vehicle's driving trajectory within the target retrieval area.

[0058] Step S105: Determine whether the vehicle's driving trajectory and the road trajectory are completely consistent.

[0059] For example, a diagram showing the comparison and matching of vehicle driving trajectory and road trajectory is shown below. Figure 2 As shown, using the starting and ending positions of the vehicle's trajectory as a reference, both the vehicle's trajectory and the road trajectory can be divided into multiple segments. If the vehicle's trajectory and the road trajectory do not match in at least one segment, it can be determined that the vehicle's trajectory and the road trajectory do not match completely. Conversely, if the vehicle's trajectory and the road trajectory match completely in each segment, it can be determined that the vehicle's trajectory and the road trajectory match completely, thus obtaining the route information and latitude and longitude of the vehicle's location.

[0060] Step S106A: If the vehicle's trajectory does not perfectly match the road trajectory, then proceed to the steps described above, which use the vehicle's initial position as a reference to retrieve the road trajectory from the offline map, in order to update the road trajectory.

[0061] For example, the process of updating the road trajectory includes, but is not limited to, the following sub-steps S1061A to S1063A.

[0062] Sub-step S1061A: Determine the azimuth angle between the travel direction of the target vehicle and the meridian or parallel on the offline map at different times, and obtain the azimuth detection result.

[0063] Sub-step S1062A: Determine the distance the target vehicle travels in a straight line along the azimuth angle at different times, and obtain the distance detection result.

[0064] Sub-step S1063A: Based on the orientation detection results and distance detection results, correct the matching error between the vehicle's driving trajectory and the road trajectory.

[0065] When matching vehicle driving trajectory with map road trajectory, the matching error between vehicle driving trajectory and road trajectory is corrected segment by segment by using the orientation detection results and distance detection results at different times, so as to update and obtain road trajectory with higher matching accuracy.

[0066] Step S106B: If the vehicle's driving trajectory perfectly matches the road trajectory, then provide assisted navigation for the vehicle at future moments based on the road trajectory.

[0067] For example, the process of providing assisted navigation for a vehicle at future moments based on road trajectories includes, but is not limited to, the following sub-steps S1061B to S1063B.

[0068] Sub-step S1061B: Based on the road trajectory, predict the current position of the vehicle at time t0.

[0069] For example, the road the vehicle is currently traveling on can be determined based on the matched road trajectory. First, the average vehicle speed recorded before the satellite signal failed can be multiplied by the time step to calculate the distance S traveled by the vehicle during the time interval (t0-Δt) to t0. Δt Then, the vehicle position L recorded at the time (t0-Δt) before the satellite signal failed. t0-Δt Based on this, the distance S traveled by the vehicle during the time interval (t0-Δt) to t0 is... Δt Using increments, we can estimate the vehicle's position at time t0.

[0070] Furthermore, the azimuth angle recorded at the time (t0-Δt) before the satellite signal failed can be used as a reference, and the distance S can be measured along the straight line of that azimuth angle. Δt The position is calibrated for the increment, thereby estimating the vehicle's position at time t0.

[0071] Sub-step S1062B: Update the vehicle's current position at time t0 to the offline map.

[0072] Sub-step S1063B: Starting from the vehicle's current position, perform assisted navigation for the vehicle at future times (e.g., t0+k·Δt) along the road trajectory.

[0073] Theoretically speaking, as long as the vehicle's sensors are sensitive enough, the processing speed is fast enough, and the positioning interval Δt is small enough, the positioning accuracy can be controlled at around 50m even when the vehicle is traveling at high speed.

[0074] It should be noted that during vehicle-assisted navigation, every Δt time interval, a satellite positioning test is first performed. If satellite positioning is possible, the satellite positioning with higher accuracy and faster update speed is used first.

[0075] The implementation environment of this application embodiment may include at least one terminal and one server, and the method is executed on the terminal or the server respectively. The terminal and the server can be connected to achieve interactive information transmission. The terminal can be any electronic product that can interact with the user through one or more methods such as keyboard, touchpad, touch screen, voice interaction, etc., such as PC (Personal Computer), PPC (Pocket Personal Computer), tablet computer, etc.

[0076] A server can be a single server, a server cluster consisting of multiple servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms.

[0077] Example 2

[0078] A second embodiment of the present invention provides a vehicle-assisted navigation device for scenarios without satellite signals, such as... Figure 3 As shown, the vehicle auxiliary navigation device includes a first judgment module 101, a recording module 102, an acquisition module 103, a starting position determination module 104, a search and comparison module 105, a second judgment module 106, a jump update module 107, an auxiliary navigation module 108, a direction determination module 109, a distance determination module 110, and a correction module 111.

[0079] The first judgment module 101 is used to judge whether the satellite positioning of the target vehicle is successful at the current time at predetermined time intervals.

[0080] The recording module 102 is used to record the current position of the vehicle at the current moment if satellite positioning is successful.

[0081] The acquisition module 103 is used to acquire the vehicle position recorded before the satellite signal failed, and the vehicle's driving trajectory from the current time to multiple times before the satellite positioning failed, in the event of satellite positioning failure.

[0082] The starting position determination module 104 is used to determine the vehicle's starting position as the vehicle's position recorded before the satellite signal failed.

[0083] The retrieval and comparison module 105 is used to retrieve road trajectories that match the vehicle's driving trajectory from an offline map, based on the vehicle's starting position.

[0084] The second judgment module 106 is used to determine whether the vehicle's driving trajectory and the road trajectory are completely consistent.

[0085] The jump update module 107 is used to jump to the above-mentioned step of retrieving the road trajectory from the offline map based on the vehicle's initial position when the vehicle's driving trajectory does not completely match the road trajectory, so as to update the road trajectory.

[0086] The auxiliary navigation module 108 is used to provide auxiliary navigation for the vehicle in future moments based on the road trajectory when the vehicle's driving trajectory perfectly matches the road trajectory.

[0087] The orientation determination module 109 is used to determine the azimuth angle between the travel direction of the target vehicle and the longitude or latitude line on the offline map at different times, and obtain the orientation detection result.

[0088] The distance determination module 110 is used to determine the distance the target vehicle travels along the azimuth angle in a straight line at different times, and to obtain the distance detection result.

[0089] The correction module 111 is used to correct the matching error between the vehicle's driving trajectory and the road trajectory based on the orientation detection results and the distance detection results.

[0090] Further, in this embodiment, the retrieval and comparison module may include a target displacement determination submodule, a target retrieval area determination submodule, a trajectory feature extraction submodule, and a retrieval submodule. The target displacement determination submodule determines the target displacement based on the maximum allowed vehicle speed on the road segment and a predetermined time step. The target retrieval area determination submodule delineates the target retrieval area from the offline map, centered on the vehicle's current position and with the target displacement as the radius. The trajectory feature extraction submodule extracts multiple trajectory features of the vehicle's driving trajectory. These multiple trajectory features may include the maximum curvature radius, maximum curvature angle, maximum driving speed, and elevation difference. The retrieval submodule retrieves a road trajectory within the target retrieval area that satisfies at least one trajectory feature of the vehicle's driving trajectory.

[0091] Furthermore, in this embodiment, the assisted navigation module may include a current location prediction submodule, a current location update submodule, and a navigation submodule. The current location prediction submodule is used to predict the vehicle's current location based on the road trajectory. The current location update submodule is used to update the vehicle's current location on the offline map. The navigation submodule is used to provide assisted navigation for the vehicle in future moments, starting from the vehicle's current location and following the road trajectory.

[0092] It should be noted that the above Figure 3 The provided device, in implementing its functions, is only illustrated by the division of the above-described functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. Furthermore, the device and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation processes are detailed in the method embodiments, and will not be repeated here.

[0093] Example 3

[0094] A third embodiment of the present invention provides an electronic device, see below. Figure 4 The electronic device includes a processor 201 and a memory 202, the memory storing at least one computer program, which is loaded and executed by one or more of the processors to enable the computer to implement the vehicle-assisted navigation method as described in the first embodiment.

[0095] Of course, the electronic device may also have wired or wireless network interfaces, keyboards, and input / output interfaces for input and output. The electronic device may also include other components for implementing the various functions of the device, which will not be elaborated here.

[0096] Example 4

[0097] A fourth embodiment of the present invention provides a computer-readable storage medium storing at least one piece of program code that is loaded and executed by a processor to enable a computer to implement the vehicle-assisted navigation method as described in the first embodiment.

[0098] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, or an optical disc data storage device, etc. Those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a microcontroller, chip, or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc.

[0099] Example 5

[0100] The fifth embodiment of the present invention provides an intelligent vehicle equipped with a positioning and navigation system for providing auxiliary positioning and navigation functions when the vehicle's satellite positioning fails.

[0101] like Figure 5 As shown, the positioning and navigation system includes a satellite positioning subsystem, an offline map, an orientation detection subsystem, a distance detection subsystem, and a matching processing subsystem. The satellite positioning subsystem performs satellite positioning of the vehicle at intervals of Δt. The orientation detection subsystem detects the angle (azimuth angle) between the vehicle's travel direction and a meridian or parallel on the offline map. The distance detection subsystem detects the distance the vehicle travels along the azimuth angle. The matching processing subsystem determines the success of satellite positioning by obtaining the vehicle's position provided by the satellite positioning system. In the event of satellite positioning failure, it processes data such as the vehicle's trajectory before the signal failure, the orientation detection results, and the distance detection results to find a road trajectory in the offline map that matches the vehicle's trajectory, thereby determining the vehicle's position and navigation information, thus achieving positioning and navigation. It should be noted that the principle and method of the matching processing subsystem belong to the same concept; its specific implementation process is detailed in the method embodiment and will not be repeated here.

[0102] Any obvious equivalent changes, modifications, readjustments, and substitutions made by those skilled in the art based on this invention, or direct or indirect applications in other related technical fields, are all within the scope of protection of this invention. Therefore, although the invention has been described in detail through the above embodiments, it is not limited to these embodiments. Many other equivalent embodiments may be included without departing from the inventive concept, and the scope of this invention is determined by the scope of the appended claims.

Claims

1. A vehicle-assisted navigation method in scenarios without satellite signals, characterized in that, The vehicle-assisted navigation method includes: At predetermined time intervals, it is determined whether the satellite positioning of the target vehicle is successful at the current moment; If satellite positioning is successful, record the vehicle's current location at the current moment; If satellite positioning fails, the vehicle position recorded before the satellite signal fails and the vehicle's driving trajectory from multiple moments (t0-k·Δt) before the satellite positioning fails to the current moment t0 are obtained, where k is a constant and the value of k is adjusted according to the matching result, and Δt is a predetermined time step. The vehicle's starting position is determined from the position recorded before the satellite signal failed. Based on the vehicle's starting position, retrieve road trajectories that match the vehicle's driving trajectory from the offline map; Determine whether the vehicle's trajectory perfectly matches the road trajectory; If the vehicle's trajectory does not perfectly match the road trajectory, then proceed to the steps described above, which retrieve the road trajectory from the offline map based on the vehicle's starting position, in order to update the road trajectory. If the vehicle's trajectory perfectly matches the road trajectory, then the vehicle will be provided with assisted navigation for future moments based on the road trajectory.

2. The vehicle-assisted navigation method in a satellite-less scenario according to claim 1, characterized in that, The process of retrieving road trajectories matching the vehicle's travel path from an offline map, based on the vehicle's starting position, includes: The target displacement is determined based on the maximum speed allowed on the road segment and the predetermined time step; Using the vehicle's current location as the center and the target displacement as the radius, a target retrieval area is defined from the offline map; Extract multiple trajectory features of the vehicle's driving trajectory, including the maximum curve radius, maximum curve angle, maximum driving speed, and elevation difference; Retrieve road trajectories within the target retrieval area that satisfy at least one trajectory feature of the vehicle's driving trajectory.

3. The vehicle-assisted navigation method in a satellite-less scenario according to claim 1, characterized in that, The vehicle-assisted navigation method also includes: Determine the azimuth angle between the target vehicle's travel direction and the meridians or parallels on the offline map at different times to obtain the azimuth detection results; Determine the distance the target vehicle travels along the azimuth angle in a straight line at different times to obtain distance detection results; Based on the orientation detection results and distance detection results, the matching error between the vehicle's driving trajectory and the road trajectory is corrected.

4. The vehicle-assisted navigation method in a satellite-less scenario according to claim 1, characterized in that, The method of providing assisted navigation for vehicles based on road trajectories includes: Based on the road trajectory, predict the current position of the vehicle at the current moment; Update the vehicle's current location to the offline map at the current moment; Starting from the vehicle's current location, provide auxiliary navigation for the vehicle at future points along the road trajectory.

5. A vehicle-assisted navigation device for scenarios without satellite signals, characterized in that, The vehicle auxiliary navigation device includes a first judgment module, a recording module, an acquisition module, a starting position determination module, a retrieval and comparison module, a second judgment module, a jump update module, and an auxiliary navigation module; The first judgment module is used to judge whether the satellite positioning of the target vehicle is successful at the current time at predetermined time intervals; The recording module is used to record the current position of the vehicle at the current moment if satellite positioning is successful; The acquisition module is used to acquire the vehicle position recorded before the satellite signal failure and the vehicle's driving trajectory from multiple moments (t0-k·Δt) before the satellite positioning failure to the current moment t0 in the event of satellite positioning failure, where k is a constant and the value of k is adjusted according to the matching result, and Δt is a predetermined time step. The starting position determination module is used to determine the vehicle's starting position as the vehicle's position recorded before the satellite signal failed. The retrieval and comparison module is used to retrieve road trajectories that match the vehicle's driving trajectory from an offline map, based on the vehicle's starting position. The second judgment module is used to determine whether the vehicle's driving trajectory and the road trajectory completely match; The jump update module is used to jump to the above-mentioned step of retrieving the road trajectory from the offline map based on the vehicle's starting position when the vehicle's driving trajectory does not completely match the road trajectory, so as to update the road trajectory. The auxiliary navigation module is used to provide auxiliary navigation for the vehicle in future moments based on the road trajectory when the vehicle's driving trajectory perfectly matches the road trajectory.

6. The vehicle auxiliary navigation device in the absence of satellite signal according to claim 5, characterized in that, The retrieval and comparison module includes a target displacement determination submodule, a target retrieval area determination submodule, a trajectory feature extraction submodule, and a retrieval submodule; The target displacement determination submodule is used to determine the target displacement based on the maximum speed allowed on the road segment and a predetermined time step; The target retrieval area determination submodule is used to delineate the target retrieval area from the offline map with the current position of the vehicle as the center and the target displacement as the radius; The trajectory feature extraction submodule is used to extract multiple trajectory features of the vehicle's driving trajectory, including the maximum curve radius, maximum curve angle, maximum driving speed, and elevation difference. The retrieval submodule is used to retrieve road trajectories within the target retrieval area that satisfy at least one trajectory feature of the vehicle's driving trajectory.

7. The vehicle auxiliary navigation device in the absence of satellite signal according to claim 5, characterized in that, The vehicle auxiliary navigation device also includes a orientation determination module, a distance determination module, and a correction module; The orientation determination module is used to determine the azimuth angle between the travel direction of the target vehicle and the longitude or latitude line on the offline map at different times, and obtain the orientation detection result; The distance determination module is used to determine the distance the target vehicle travels in a straight line along the azimuth angle at different times, and to obtain the distance detection result; The correction module is used to correct the matching error between the vehicle's trajectory and the road trajectory based on the orientation detection results and distance detection results.

8. The vehicle auxiliary navigation device in the absence of satellite signal according to claim 5, characterized in that, The auxiliary navigation module includes a current position prediction submodule, a current position update submodule, and a navigation submodule; The current location prediction submodule is used to predict the current location of the vehicle at the current moment based on the road trajectory; The current location update submodule is used to update the current location of the vehicle at the current moment to the offline map; The navigation submodule is used to provide auxiliary navigation for the vehicle at future times, starting from the vehicle's current location and following the road trajectory.

9. An electronic device, characterized in that, The electronic device includes a processor and a memory, the memory storing at least one computer program, which is loaded and executed by one or more of the processors to enable the computer to implement the vehicle-assisted navigation method according to any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one piece of program code, which is loaded and executed by a processor to enable the computer to implement the vehicle-assisted navigation method according to any one of claims 1 to 4.

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