A trajectory optimization method, device, medium, equipment and map making system

Abstract

The application discloses a trajectory optimization method, device, medium, equipment and map making system, and belongs to the technical field of computers. The method mainly comprises the following steps: obtaining trajectory speed information of a to-be-optimized trajectory, obtaining trajectory shape features of the to-be-optimized trajectory according to the trajectory speed information; obtaining position information of a plurality of trajectory points in the to-be-optimized trajectory; screening the plurality of trajectory points according to the trajectory shape features and the position information of the plurality of trajectory points to obtain correctly positioned trajectory points; and obtaining a correct shape trajectory corresponding to the to-be-optimized trajectory by using all the correctly positioned trajectory points; wherein the shape of the correct trajectory is consistent with the trajectory shape features. The application obtains relatively accurate trajectory shape features by using trajectory speed in satellite positioning system information, and obtains correctly positioned trajectory points by trajectory shape screening, so that the corresponding trajectory can be efficiently and accurately optimized.

Description

Technical Field

[0001] This application relates to the field of computers, and in particular to a trajectory optimization method, apparatus, medium, device, and map production system. Background Technology

[0002] When creating maps, it is necessary to utilize trajectory information obtained through field data collection. This field data collection utilizes the Global Positioning System (GPS) to acquire the location information of the trajectory points. However, due to frequent instances of poor satellite positioning signals, the location information of trajectory points is prone to errors. Therefore, it is necessary to optimize the location information from the satellite positioning system. Summary of the Invention

[0003] To address the problems existing in the prior art, this application mainly provides a trajectory optimization method, apparatus, medium, device, and map production system. By utilizing the trajectory velocity in the satellite positioning system information, a more accurate trajectory shape is obtained, and the correctly positioned trajectory points are obtained through trajectory shape filtering, thereby optimizing the corresponding trajectory efficiently and accurately.

[0004] In a first aspect, embodiments of this application provide a trajectory optimization method, which includes:

[0005] The process involves: acquiring trajectory velocity information of the trajectory to be optimized; obtaining trajectory shape features of the trajectory to be optimized based on the trajectory velocity information; acquiring position information of multiple trajectory points in the trajectory to be optimized; filtering the multiple trajectory points based on the trajectory shape features and the position information of the multiple trajectory points to obtain correctly positioned trajectory points; and using all the correctly positioned trajectory points to obtain a correct shape trajectory corresponding to the trajectory to be optimized; wherein the shape of the correct trajectory conforms to the trajectory shape features.

[0006] Secondly, embodiments of this application provide a trajectory optimization method, which includes:

[0007] Obtain GPS speed information of the trajectory to be optimized, and use the GPS speed information to determine the relative position information of the trajectory to be optimized, thus obtaining the relative position trajectory of the trajectory to be optimized; obtain GPS position information of the trajectory to be optimized, thus obtaining the absolute position information of multiple trajectory points that make up the trajectory to be optimized; using the relative position trajectory of the trajectory to be optimized as a reference, and filtering multiple trajectory points according to the absolute position information of multiple trajectory points, obtain the correctly positioned trajectory points; and determine the optimized trajectory of the trajectory to be optimized based on all the correctly positioned trajectory points.

[0008] Thirdly, embodiments of this application provide a trajectory optimization device, which includes:

[0009] The system includes a trajectory shape feature acquisition module for acquiring trajectory velocity information of the trajectory to be optimized and obtaining trajectory shape features of the trajectory to be optimized based on the trajectory velocity information; a trajectory point position acquisition module for acquiring position information of multiple trajectory points in the trajectory to be optimized; a correctly positioned trajectory point acquisition module for filtering the multiple trajectory points based on the trajectory shape features and the position information of the multiple trajectory points to obtain correctly positioned trajectory points; and a correct shape trajectory acquisition module for obtaining a correct shape trajectory corresponding to the trajectory to be optimized using all the correctly positioned trajectory points; wherein the shape of the correct trajectory conforms to the trajectory shape feature.

[0010] Fourthly, embodiments of this application provide a map production system, which includes the aforementioned trajectory optimization device.

[0011] Fifthly, embodiments of this application provide a computer-readable storage medium storing computer instructions that are operated to perform the method of matching high-precision maps with conventional navigation paths as described above.

[0012] Sixthly, embodiments of this application provide a computer device including a processor and a memory, the memory storing computer instructions that are operated to execute the method of matching high-precision maps with conventional navigation paths as described above.

[0013] The beneficial effects that the technical solution of this application can achieve are: This application utilizes the characteristic that the velocity information in satellite positioning system information is usually more accurate than the position information, obtains a more accurate trajectory shape feature through trajectory velocity, and obtains the correct positioning trajectory point through trajectory shape screening, thereby enabling efficient and accurate optimization of the corresponding trajectory. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description exemplarily illustrate some embodiments of this application.

[0015] Figure 1 This is a schematic flowchart of a specific implementation of a trajectory optimization method according to this application;

[0016] Figure 2 This is a schematic diagram of the trajectory shape characteristic curve and trajectory points of a predetermined road segment in a specific embodiment of a trajectory optimization method of this application;

[0017] Figure 3 This is a schematic diagram of a specific embodiment of a trajectory optimization device according to this application;

[0018] The accompanying drawings have illustrated specific embodiments of this disclosure, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this disclosure to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0019] The embodiments of this application will now be described in detail with reference to the accompanying drawings, so that the advantages and features of this application can be more easily understood by those skilled in the art, thereby making a clearer and more explicit definition of the scope of protection of this application.

[0020] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0021] When creating maps, trajectory information acquired through field data collection is required. During field data collection, satellite positioning systems are used to obtain the position and velocity information of the trajectory points. Because satellite positioning signals are often weak, the position information of trajectory points is prone to errors; therefore, the position information in the satellite positioning system data needs to be optimized. The trajectory velocity information in the satellite positioning system data is generally quite accurate.

[0022] Therefore, this application first uses the trajectory velocity information to obtain the trajectory shape of a segment of the trajectory, and then selects points from all the trajectory position points of the segment of the trajectory based on the trajectory shape, so as to obtain a more accurate corresponding trajectory information.

[0023] The technical solutions of this application will now be described in detail with reference to specific embodiments and accompanying drawings. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0024] Figure 1 This invention illustrates a specific implementation of a trajectory optimization method according to the present application.

[0025] exist Figure 1The specific implementation of the trajectory optimization method of this application shown includes the following steps: Step S101: Obtaining trajectory velocity information of the trajectory to be optimized, and obtaining the trajectory shape features of the trajectory to be optimized based on the trajectory velocity information; Step S102: Obtaining the position information of multiple trajectory points in the trajectory to be optimized; Step S103: Filtering the multiple trajectory points based on the trajectory shape features and the position information of the multiple trajectory points to obtain correctly positioned trajectory points; Step S104: Using all the correctly positioned trajectory points to obtain a correct shape trajectory corresponding to the trajectory to be optimized; wherein the shape of the correct trajectory conforms to the trajectory shape features.

[0026] This application discloses a trajectory optimization method that utilizes trajectory velocity information from satellite positioning system to obtain relatively accurate trajectory shape features, and then filters out correctly positioned trajectory points through trajectory shape features, thereby enabling efficient and accurate optimization of the corresponding trajectory.

[0027] The process S101 involves acquiring the trajectory velocity information of the trajectory to be optimized and obtaining the trajectory shape characteristics of the trajectory to be optimized based on the trajectory velocity information. This process facilitates the selection of corresponding trajectory points based on the trajectory shape characteristics.

[0028] In one specific embodiment of this application, the process of obtaining the trajectory shape features of the trajectory to be optimized based on the trajectory velocity information includes obtaining the shape feature curve of the trajectory to be optimized that has the same shape as the correct shape trajectory based on the trajectory velocity information.

[0029] In one specific embodiment of this application, the process of obtaining the trajectory shape features of the trajectory to be optimized based on the trajectory velocity information includes obtaining the relative position information of each trajectory point based on the velocity information of each trajectory point of the trajectory to be optimized, and obtaining the shape feature curve of the trajectory to be optimized.

[0030] Specifically, such as Figure 3 As shown, after obtaining the shape feature curve of the trajectory to be optimized, it is convenient to intuitively filter the corresponding trajectory points and obtain the correct positioning trajectory points.

[0031] In an optional specific embodiment of this application, the process of obtaining the trajectory velocity information of the trajectory to be optimized and obtaining the trajectory shape features of the trajectory to be optimized based on the trajectory velocity information includes obtaining a functional equation describing the trajectory shape features based on the trajectory velocity information, so as to fit the corresponding trajectory points according to the functional equation and further perform screening.

[0032] Process S102 represents the process of obtaining the position information of multiple trajectory points in the trajectory to be optimized, which can facilitate the subsequent selection of the correct positioning trajectory points based on the position information of the trajectory points.

[0033] The specific location information of the aforementioned multiple trajectory points includes the absolute position coordinates of each trajectory point.

[0034] Specifically, the trajectory speed information and the location information of multiple trajectory points mentioned above can be the speed information and location information obtained through GPS, respectively.

[0035] Process S103 represents filtering the multiple trajectory points based on the trajectory shape features and the position information of the multiple trajectory points to obtain the correctly located trajectory points. It can filter the correctly located trajectory points among the corresponding trajectory points of a predetermined road segment based on the trajectory shape features.

[0036] Specifically, based on the trajectory shape characteristics obtained in process S101, trajectory points whose location distribution lines match the above trajectory shape characteristics can be selected from the corresponding trajectory points of the predetermined road segment, and then the optimized trajectory corresponding to the predetermined road segment can be obtained by correctly locating the trajectory points.

[0037] In one specific embodiment of this application, the process of filtering the multiple trajectory points based on the trajectory shape features and the position information of the multiple trajectory points to obtain the correctly positioned trajectory points includes: fitting the multiple trajectory points to a shape feature curve based on the position information of the multiple trajectory points; filtering the successfully fitted trajectory points to obtain the correctly positioned trajectory points.

[0038] In optional specific examples of this application, such as Figure 3 As shown, the trajectory points corresponding to the predetermined road segment include trajectory points 1-11. The line connecting trajectory points 1, 3, 5, 6, 8, 10, and 11 matches the trajectory shape characteristics obtained in process S101. Therefore, trajectory points 1, 3, 5, 6, 8, 10, and 11 are the correctly located trajectory points.

[0039] Process S104 represents the process of obtaining the correct shape trajectory corresponding to the trajectory to be optimized using all the correct positioning trajectory points, which can obtain the correct shape trajectory that conforms to the trajectory shape characteristics.

[0040] In one specific embodiment of this application, the trajectory optimization method further includes: determining whether the distance between trajectory points that are not correctly located trajectory points and the correct shape trajectory is greater than a predetermined distance threshold among the trajectory points corresponding to the predetermined road segment; deleting noisy trajectory points whose distance to the correct shape trajectory is greater than the predetermined distance threshold based on the determination result; and obtaining an optimized trajectory corresponding to the predetermined road segment using the trajectory points to be optimized whose distance to the correct shape trajectory is not greater than the predetermined distance threshold and the correctly located trajectory points. This maximizes the retention of trajectory points and improves the accuracy of the final mapping by avoiding interference from noisy trajectory points with excessive positioning deviations in the mapping process.

[0041] In optional specific examples of this application, such as Figure 3 As shown, among the trajectory points 1-11 corresponding to the predetermined road segment, trajectory points 4 and 7 are more than the predetermined distance threshold from the correct shape trajectory. Therefore, trajectory points 4 and 7 are considered noise trajectory points and are deleted. Trajectory points 2 and 9 are not more than the predetermined distance threshold from the correct shape trajectory. Therefore, trajectory points 2 and 9 are trajectory points to be optimized. Subsequently, the optimized trajectory corresponding to the predetermined road segment is obtained using trajectory points 1, 2, 3, 5, 6, 8, 9, 10, and 11.

[0042] In an optional embodiment of this application, the process of obtaining an optimized trajectory corresponding to a predetermined road segment using trajectory points whose distance from the correct shape trajectory is no greater than a predetermined distance threshold and the correctly positioned trajectory points includes: optimizing and adjusting the position information of the trajectory point to be optimized based on the position information of the correctly positioned trajectory point closest to the trajectory point to be optimized to obtain an optimized trajectory point; and using the optimized trajectory point and the correctly positioned trajectory point to obtain the optimized trajectory corresponding to the predetermined road segment. Specifically, by establishing distance constraints between the correctly positioned trajectory point and adjacent trajectory points, the positions of adjacent trajectory points with inaccurate positioning can be adjusted to more accurate positions.

[0043] In optional specific examples of this application, such as Figure 2 As shown, for the trajectory points to be optimized, trajectory point 2 and trajectory point 9 are adjusted based on their closest correct positioning trajectories. For trajectory point 2, the positions are adjusted based on trajectory points 1 and 3; for trajectory point 9, the positions are adjusted based on trajectory points 8 and 10. This allows trajectory points 2 and 9 to be adjusted to a more accurate position.

[0044] In an optional specific embodiment of this application, the process of obtaining an optimized trajectory corresponding to a predetermined road segment using trajectory points whose distance from the correct shape trajectory is not greater than a predetermined distance threshold and the correctly positioned trajectory points includes: optimizing and adjusting the position information of the trajectory points to be optimized based on satellite positioning system information related to the trajectory points to be optimized obtained from multiple field surveys of the predetermined road segment to obtain optimized trajectory points; and using the optimized trajectory points and the correctly positioned trajectory points to obtain the optimized trajectory corresponding to the predetermined road segment.

[0045] Specifically, the location information of the trajectory points to be optimized can be obtained from satellite positioning system information related to the trajectory points to be optimized through multiple field surveys, or from other feature positioning information such as road signs and streetlights, to optimize and adjust the location information of the aforementioned trajectory points to be optimized.

[0046] Another technical solution adopted in this application is: providing a trajectory optimization method, which includes acquiring GPS speed information of the trajectory to be optimized; using the GPS speed information to determine the relative position information of the trajectory to be optimized, thereby obtaining the relative position trajectory of the trajectory to be optimized; acquiring the GPS position information of the trajectory to be optimized, thereby obtaining the absolute position information of multiple trajectory points constituting the trajectory to be optimized; using the relative position trajectory of the trajectory to be optimized as a reference, filtering the multiple trajectory points according to the absolute position information of the multiple trajectory points, thereby obtaining the correctly positioned trajectory points; and determining the optimized trajectory of the trajectory to be optimized based on all the correctly positioned trajectory points.

[0047] When performing trajectory fusion, two types of information can generally be obtained through GPS: location information and speed information. Due to the characteristics of GPS data acquisition, GPS speed information is usually more accurate than location information. For example, when a vehicle enters a tunnel or travels on a road with tall buildings nearby, the GPS location signal may be blocked or reflected, resulting in inaccurate GPS output location information and deviation of the trajectory point position. In this case, when performing trajectory fusion, it is necessary to remove the trajectory points with inaccurate positions in order to obtain trajectory points with accurate location information for trajectory fusion.

[0048] For example, such as Figure 3 As shown, in one embodiment of this application, based on the characteristic that GPS speed information is generally more accurate than location information, when performing trajectory fusion, GPS speed information can be obtained first, and only the GPS speed information can be fused to obtain a trajectory that has no absolute location information but accurate relative location information, such as... Figure 3 The shape characteristic curve shown in the figure represents the relative position trajectory of the trajectory to be optimized. Since the data comes from GPS speed information, the relative position of this relative position trajectory is accurate. That is, this relative position trajectory can represent the shape of the real trajectory and can provide a valid reference for subsequent GPS position trajectory point elimination.

[0049] For the trajectory to be optimized, it is also necessary to obtain the location information of all trajectory points output by GPS at predetermined time intervals, such as... Figure 3 As shown in this embodiment, 1-11 trajectory points are selected for the trajectory to be optimized. Since the GPS location information may not be accurate enough, there may be cases where these 11 trajectory points deviate from the actual trajectory. In this case, the relative position trajectory of the trajectory to be optimized can be used as a reference for the actual shape of the trajectory to be filtered out.

[0050] like Figure 3 As shown, in this embodiment, based on the relative position trajectory with the true shape obtained from GPS speed information, the 11 trajectory points obtained from GPS location information are filtered in historical locations. For example, points can be selected by fitting trajectory points 1-11 to the relative position trajectory curve. Points that can be successfully fitted to the relative position trajectory are trajectory points with accurate location information, such as trajectory points 1, 3, 5, 6, 8, and 10. Trajectory points 1, 3, 5, 6, 8, and 10 are trajectory points with accurate relative and absolute positions, and these trajectory points can be used to generate accurate trajectories for the trajectory to be optimized. Points that cannot be fitted to the relative position trajectory curve or whose trajectory points deviate from the shape and position trajectory when matched with the relative position trajectory are trajectory points with incorrect location information and need to be removed, such as trajectory points 2, 4, 7, and 9.

[0051] In the above embodiments, by obtaining the relative position trajectory of the trajectory to be optimized, the accurate shape of the trajectory to be optimized is obtained. By filtering multiple trajectory points obtained by GPS, deviation points can be easily found and eliminated. Using the eliminated accurate position trajectory points to perform absolute position fusion of the trajectory can ensure that a trajectory with accurate relative and absolute positions is obtained.

[0052] Figure 2 This application illustrates a specific embodiment of a trajectory optimization device.

[0053] exist Figure 2 The specific implementation of the trajectory optimization device of this application shown includes,

[0054] The trajectory shape feature acquisition module 201 is used to acquire trajectory velocity information of the trajectory to be optimized, and obtain the trajectory shape feature of the trajectory to be optimized based on the trajectory velocity information; the trajectory point position acquisition module 202 is used to acquire the position information of multiple trajectory points in the trajectory to be optimized; the correct positioning trajectory point acquisition module 203 is used to filter the multiple trajectory points based on the trajectory shape feature and the position information of the multiple trajectory points to obtain the correct positioning trajectory points; and the correct shape trajectory acquisition module 204 is used to obtain the correct shape trajectory corresponding to the trajectory to be optimized using all the correct positioning trajectory points; wherein the shape of the correct trajectory conforms to the trajectory shape feature.

[0055] This application discloses a trajectory optimization device that can obtain relatively accurate trajectory shape features by utilizing trajectory velocity information from satellite positioning system, and then select the correctly positioned trajectory points through trajectory shape feature filtering, thereby efficiently and accurately optimizing the corresponding trajectory.

[0056] The trajectory shape feature acquisition module 201, which is used to obtain trajectory speed information of the trajectory to be optimized and obtain trajectory shape features of the trajectory to be optimized based on the trajectory speed information, can facilitate the filtering of corresponding trajectory points based on the acquired trajectory shape features.

[0057] In one specific embodiment of this application, the trajectory shape feature acquisition module 201, which is used to obtain trajectory speed information of the trajectory to be optimized and to obtain trajectory shape features of the trajectory to be optimized based on the trajectory speed information, can be used to obtain the shape feature curve of the trajectory to be optimized that has the same shape as the correct shape trajectory based on the trajectory speed information.

[0058] In one specific embodiment of this application, the trajectory shape feature acquisition module 201, which is used to obtain trajectory speed information of the trajectory to be optimized and obtain trajectory shape features of the trajectory to be optimized based on the trajectory speed information, can be used to obtain the relative position information of each trajectory point based on the speed information of each trajectory point of the trajectory to be optimized, and obtain the shape feature curve of the trajectory to be optimized.

[0059] Specifically, such as Figure 3 As shown, after obtaining the shape feature curve of the trajectory to be optimized, it is convenient to intuitively filter the corresponding trajectory points and obtain the correct positioning trajectory points.

[0060] In an optional embodiment of this application, the trajectory shape feature acquisition module 201, which is used to obtain trajectory velocity information of the trajectory to be optimized and to obtain trajectory shape features of the trajectory to be optimized based on the trajectory velocity information, can be used to obtain a function equation describing the trajectory shape features based on the trajectory velocity information, so as to fit the corresponding trajectory points according to the function equation and further filter them.

[0061] The trajectory point location acquisition module 202, used to obtain the location information of multiple trajectory points in the trajectory to be optimized, can facilitate the subsequent filtering of the trajectory points based on their location information to obtain the correct positioning trajectory points.

[0062] The specific location information of the aforementioned multiple trajectory points includes the absolute position coordinates of each trajectory point.

[0063] Specifically, the trajectory speed information and the location information of multiple trajectory points mentioned above can be the speed information and location information obtained through GPS, respectively.

[0064] The correct positioning trajectory point acquisition module 203 is used to filter the multiple trajectory points according to the trajectory shape features and the position information of the multiple trajectory points to obtain the correctly positioned trajectory points. It can filter the correctly positioned trajectory points in the corresponding trajectory points of the predetermined road segment according to the trajectory shape features.

[0065] Specifically, based on the trajectory shape features obtained by the trajectory shape feature acquisition module 201, trajectory points whose location distribution lines match the above trajectory shape features can be selected from the corresponding trajectory points of the predetermined road segment, and then the optimized trajectory corresponding to the predetermined road segment can be obtained by correctly locating the trajectory points.

[0066] In one specific embodiment of this application, the correct positioning trajectory point acquisition module 203, which is used to filter the multiple trajectory points according to the trajectory shape features and the position information of the multiple trajectory points to obtain the correct positioning trajectory point, can be used to fit the multiple trajectory points to the shape feature curve according to the position information of the multiple trajectory points, and filter the successfully fitted trajectory points to obtain the correct positioning trajectory point.

[0067] In optional specific examples of this application, such as Figure 3 As shown, the trajectory points corresponding to the predetermined road segment include trajectory points 1-11. The line connecting trajectory points 1, 3, 5, 6, 8, 10, and 11 matches the trajectory shape characteristics obtained in process S101. Therefore, trajectory points 1, 3, 5, 6, 8, 10, and 11 are the correctly located trajectory points.

[0068] The correct shape trajectory acquisition module 204 is used to obtain the correct shape trajectory corresponding to the trajectory to be optimized by utilizing all the correct positioning trajectory points, and can obtain the correct shape trajectory that conforms to the trajectory shape features.

[0069] In one specific embodiment of this application, the trajectory optimization device further includes a noise trajectory point deletion module, used to delete noise trajectory points whose distance from the correct shape trajectory is greater than a predetermined distance threshold; and an optimized trajectory acquisition module, used to obtain an optimized trajectory corresponding to a predetermined road segment using trajectory points to be optimized whose distance from the correct shape trajectory is not greater than the predetermined distance threshold and the correctly positioned trajectory points. By deleting noise trajectory points and using trajectory points with minimal offset from the correct trajectory to obtain the optimized trajectory, the retention of trajectory points can be maximized. This avoids interference from noise trajectory points with excessive positioning deviations in the mapping process, thereby improving the accuracy of the final mapping.

[0070] In optional specific examples of this application, such as Figure 3 As shown, among the trajectory points 1-11 corresponding to the predetermined road segment, trajectory points 4 and 7 are more than the predetermined distance threshold from the correct shape trajectory. Therefore, trajectory points 4 and 7 are considered noise trajectory points and are deleted. Trajectory points 2 and 9 are not more than the predetermined distance threshold from the correct shape trajectory. Therefore, trajectory points 2 and 9 are trajectory points to be optimized. Subsequently, the optimized trajectory corresponding to the predetermined road segment is obtained using trajectory points 1, 2, 3, 5, 6, 8, 9, 10, and 11.

[0071] In an optional embodiment of this application, the optimized trajectory acquisition module can be used to optimize and adjust the position information of the trajectory point to be optimized based on the position information of the correctly located trajectory point closest to the trajectory point to be optimized, thereby obtaining an optimized trajectory point. The optimized trajectory point and the correctly located trajectory point are then used to obtain the corresponding optimized trajectory for a predetermined road segment. Specifically, by establishing distance constraints between the correctly located trajectory point and adjacent trajectory points, the positions of adjacent, inaccurately located trajectory points can be adjusted to more accurate positions.

[0072] In optional specific examples of this application, such as Figure 2 As shown, for the trajectory points to be optimized, trajectory point 2 and trajectory point 9 are adjusted based on their closest correct positioning trajectories. For trajectory point 2, the positions are adjusted based on trajectory points 1 and 3; for trajectory point 9, the positions are adjusted based on trajectory points 8 and 10. This allows trajectory points 2 and 9 to be adjusted to a more accurate position.

[0073] In an optional specific embodiment of this application, the above-mentioned optimized trajectory acquisition module can be used to optimize and adjust the location information of the trajectory point to be optimized based on the satellite positioning system information related to the trajectory point to be optimized obtained by multiple field collections on the predetermined road section, and obtain the optimized trajectory point, and use the optimized trajectory point and the correctly located trajectory point to obtain the corresponding optimized trajectory of the predetermined road section.

[0074] Specifically, the location information of the trajectory points to be optimized can be obtained from satellite positioning system information related to the trajectory points to be optimized through multiple field surveys, or from other feature positioning information such as road signs and streetlights, to optimize and adjust the location information of the aforementioned trajectory points to be optimized.

[0075] Another technical solution adopted in this application is: providing a driving navigation system and a map making system, the map making system including a trajectory optimization device, optionally, the trajectory optimization device including a processor and a memory, the processor and the memory being coupled; the trajectory optimization device is used to execute the trajectory optimization method in any of the above solutions.

[0076] In one specific embodiment of this application, the functional modules of the trajectory optimization device of this application may be directly in hardware, in software modules executed by a processor, or in a combination of both.

[0077] Software modules may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in this art. An exemplary storage medium is coupled to the processor, enabling the processor to read information from and write information to the storage medium.

[0078] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination thereof. A general-purpose processor can be a microprocessor, but alternatively, it can be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors incorporating a DSP core, or any other such configuration. Alternatively, the storage medium can be integrated with the processor. The processor and storage medium can reside in an ASIC. The ASIC can reside in the user terminal. Alternatively, the processor and storage medium can reside as discrete components in the user terminal.

[0079] In another specific embodiment of this application, a computer-readable storage medium stores computer instructions that are operated to perform a trajectory optimization method in any of the above schemes.

[0080] In another specific embodiment of this application, a computer device includes a processor and a memory, the memory storing computer instructions that are operated to perform the trajectory optimization method in any of the above schemes.

[0081] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0082] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0083] The above are merely embodiments of this application and do not limit the scope of this patent application. Any equivalent structural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of this application.

Claims

1. A trajectory optimization method, characterized in that, include: The process of obtaining trajectory velocity information of a trajectory to be optimized and obtaining trajectory shape features of the trajectory to be optimized based on the trajectory velocity information includes: obtaining a function equation describing the trajectory shape features based on the trajectory velocity information; obtaining the trajectory shape features of the trajectory to be optimized based on the trajectory velocity information further includes: obtaining the relative position information of each trajectory point based on the velocity information of each trajectory point of the trajectory to be optimized, and obtaining the shape feature curve of the trajectory to be optimized. Obtain the position information of multiple trajectory points in the trajectory to be optimized; Based on the trajectory shape features and the position information of the multiple trajectory points, the multiple trajectory points are filtered to obtain the correctly located trajectory points; and Using all the correctly located trajectory points, a correct shape trajectory corresponding to the trajectory to be optimized is obtained. The step of filtering the multiple trajectory points according to the trajectory shape features and the position information of the multiple trajectory points to obtain the correct location trajectory points includes: fitting the multiple trajectory points to the shape feature curve according to the position information of the multiple trajectory points, and filtering the successfully fitted trajectory points to obtain the correct location trajectory points. The shape of the correct trajectory conforms to the trajectory shape characteristics.

2. The trajectory optimization method according to claim 1, characterized in that, It also includes, Noisy trajectory points whose distance from the correct shape trajectory is greater than a predetermined distance threshold are deleted; as well as An optimized trajectory corresponding to the predetermined road segment is obtained by using the trajectory points to be optimized that are no more than a predetermined distance threshold away from the correct shape trajectory and the correct positioning trajectory points.

3. The trajectory optimization method according to claim 2, characterized in that, The step of obtaining an optimized trajectory corresponding to the predetermined road segment using trajectory points whose distance from the correct shape trajectory is not greater than the predetermined distance threshold and the correctly positioned trajectory points includes: Based on the location information of the correct positioning trajectory point that is closest to the trajectory point to be optimized, the location information of the trajectory point to be optimized is optimized and adjusted to obtain the optimized trajectory point. The optimized trajectory point and the correct positioning trajectory point are then used to obtain the corresponding optimized trajectory of the predetermined road segment.

4. The trajectory optimization method according to claim 2, characterized in that, The step of obtaining an optimized trajectory corresponding to the predetermined road segment using trajectory points whose distance from the correct shape trajectory is not greater than the predetermined distance threshold and the correctly positioned trajectory points includes: Based on the satellite positioning system information related to the trajectory point to be optimized, which is obtained through multiple field surveys of the predetermined road section, the position information of the trajectory point to be optimized is optimized and adjusted to obtain the optimized trajectory point. The optimized trajectory point and the correctly positioned trajectory point are then used to obtain the corresponding optimized trajectory of the predetermined road section.

5. The trajectory optimization method according to any one of claims 1-4, characterized in that, The trajectory speed information of the trajectory to be optimized and the location information of the multiple trajectory points are respectively speed information and location information obtained through GPS.

6. A trajectory optimization method, characterized in that, include: Obtain GPS speed information of the trajectory to be optimized, use the GPS speed information to determine the relative position information of the trajectory to be optimized, and obtain the relative position trajectory of the trajectory to be optimized; Obtain the GPS location information of the trajectory to be optimized, and obtain the absolute location information of multiple trajectory points that make up the trajectory to be optimized; Using the relative position trajectory of the trajectory to be optimized as a reference, the multiple trajectory points are filtered according to the absolute position information of the multiple trajectory points to obtain the correct positioning trajectory points. The step of filtering the multiple trajectory points according to the absolute position information of the multiple trajectory points to obtain the correct positioning trajectory points includes: selecting points by fitting the multiple trajectory points to the curve of the relative position trajectory of the trajectory to be optimized, and determining the points that are successfully fitted to the relative position trajectory as the correct positioning trajectory points. Based on all the correctly located trajectory points, determine the optimized trajectory of the trajectory to be optimized.

7. A trajectory optimization device, characterized in that, include: A trajectory shape feature acquisition module is used to acquire trajectory velocity information of a trajectory to be optimized, and to obtain trajectory shape features of the trajectory to be optimized based on the trajectory velocity information. The acquisition of trajectory velocity information and the obtaining of trajectory shape features based on the trajectory velocity information include: obtaining a function equation describing the trajectory shape features based on the trajectory velocity information; the obtaining of trajectory shape features based on the trajectory velocity information further includes: obtaining the relative position information of each trajectory point based on the velocity information of each trajectory point of the trajectory to be optimized, and obtaining the shape feature curve of the trajectory to be optimized. The trajectory point location acquisition module is used to acquire the location information of multiple trajectory points in the trajectory to be optimized; A correct positioning trajectory point acquisition module is used to filter the multiple trajectory points based on the trajectory shape features and the position information of the multiple trajectory points to obtain the correct positioning trajectory points; and The correct shape trajectory acquisition module is used to obtain the correct shape trajectory corresponding to the trajectory to be optimized by utilizing all the correct positioning trajectory points. The step of filtering the multiple trajectory points according to the trajectory shape features and the position information of the multiple trajectory points to obtain the correct positioning trajectory points includes: fitting the multiple trajectory points to the shape feature curve according to the position information of the multiple trajectory points, and filtering the successfully fitted trajectory points to obtain the correct positioning trajectory points. The shape of the correct trajectory conforms to the trajectory shape characteristics.

8. A map creation system, characterized in that, The map creation system includes the trajectory optimization device as described in claim 7.

9. A computer-readable storage medium storing computer instructions, characterized in that, When the computer instructions are executed, the computer performs the trajectory optimization method according to any one of claims 1-6.

10. A computer device comprising a processor and a memory, the memory storing computer instructions, characterized in that, When the computer instructions are executed by the processor, they implement the trajectory optimization method as described in any one of claims 1-6.

Images