Fusion navigation positioning method and device, electronic equipment and storage medium

Abstract

The embodiment of the application provides a kind of fusion navigation positioning method, comprising: obtaining the first navigation route of current vehicle, first navigation route includes current positioning data and terminal positioning data;Based on current positioning data, determine whether current vehicle will enter target area on navigation map, target area is complex section area;If it is determined that current vehicle will enter target area, it is determined whether there is first historical positioning data in the target area of current vehicle, first historical positioning data is inertial navigation positioning data;If there is first historical positioning data in the target area of current vehicle, determine the fusion navigation positioning data of current vehicle based on first historical positioning data and current positioning data.It can use the first historical positioning data of current vehicle in complex section area to assist fusion positioning, avoid the problem that the accuracy of fusion positioning caused by inaccurate satellite navigation system signal is low, to improve the accuracy of fusion positioning.

Description

Technical Field

[0001] This invention relates to the field of vehicle navigation, and more particularly to a fusion navigation and positioning method, device, electronic device, and storage medium. Background Technology

[0002] Fusion navigation and positioning is a positioning method that uses different types of sensors to collect corresponding data, fuses the data, and then uses this data to navigate and locate a vehicle. Fusion navigation and positioning typically includes a satellite navigation system (GNNS) and an inertial navigation unit (IMU). However, in complex road conditions such as main roads, auxiliary roads, and elevated roads, fusion navigation and positioning is prone to errors in road detection due to insufficient positioning accuracy of the satellite navigation system. Therefore, existing fusion navigation and positioning methods suffer from low positioning accuracy in complex road conditions. Summary of the Invention

[0003] This invention provides a fusion navigation and positioning method to address the low positioning accuracy issue in existing fusion navigation and positioning systems under complex road conditions. When a vehicle is about to enter a complex road area, the method utilizes the vehicle's initial positioning data in that area to assist in fusion positioning, avoiding the low accuracy caused by inaccurate satellite navigation system signals, thereby improving the accuracy of fusion positioning.

[0004] In a first aspect, embodiments of the present invention provide a fusion navigation and positioning method, the method comprising:

[0005] Obtain the first navigation route for the current vehicle, which includes current location data and destination location data;

[0006] Based on the current location data, determine on the navigation map whether the current vehicle is about to enter the target area, which is a complex road area;

[0007] If it is determined that the current vehicle is about to enter the target area, then it is determined whether the current vehicle has first historical positioning data in the target area, wherein the first historical positioning data is inertial navigation positioning data;

[0008] If the current vehicle has first historical positioning data in the target area, then the fused navigation positioning data of the current vehicle is determined based on the first historical positioning data and the current positioning data.

[0009] Optionally, after determining whether the current vehicle has first historical location data in the target area if it is determined that the current vehicle is about to enter the target area, the method further includes:

[0010] If the current vehicle does not have first historical location data in the target area, then a target vehicle with a second navigation route is determined. The second navigation route includes at least the current location data and the destination location data. The target vehicle is a vehicle that has traveled through the target area within a preset time.

[0011] The second historical positioning data of the target vehicle in the target area is obtained, and based on the second historical positioning data and the current positioning data, the fused navigation positioning data of the current vehicle is determined, wherein the second historical positioning data is inertial navigation positioning data.

[0012] Optionally, determining a target vehicle with a second navigation route if the current vehicle does not have first historical positioning data in the target area includes:

[0013] If the current vehicle does not have first historical location data in the target area, then the current location is determined based on the current location data;

[0014] Determine the first candidate vehicle that passes through the current location within a preset time period from the vehicle database;

[0015] The target vehicle with the second navigation route is identified from the first candidate vehicles.

[0016] Optionally, determining the target vehicle with the second navigation route from the first candidate vehicles includes:

[0017] Determine the historical navigation routes of each of the first candidate vehicles;

[0018] A second navigation route is determined from the historical navigation routes, including at least the current location data and the destination location data;

[0019] Based on the second navigation route, the target vehicle is identified from the first candidate vehicles.

[0020] Optionally, determining the target vehicle from the first candidate vehicles based on the second navigation route includes:

[0021] A second candidate vehicle with the second navigation route is identified from the first candidate vehicles;

[0022] Calculate the correlation between the second candidate vehicle and the current vehicle;

[0023] Based on the correlation, the target vehicle is determined from the second candidate vehicles.

[0024] Optionally, calculating the correlation between the second candidate vehicle and the current vehicle includes:

[0025] Obtain the first driver behavior data of the current vehicle, and obtain the second driver behavior data of the second candidate vehicle;

[0026] Based on the first driver behavior data and the second driver behavior data, the driving behavior correlation between the second candidate vehicle and the current vehicle is determined;

[0027] Obtain the first driving parameters of the current vehicle, and obtain the second driving parameters of the second candidate vehicle;

[0028] Based on the first driving parameters and the second driving parameters, determine the correlation of driving behavior parameters between the second candidate vehicle and the current vehicle;

[0029] Based on the correlation of driving behavior and the correlation of driving parameters, the correlation between the second candidate vehicle and the current vehicle is determined.

[0030] Optionally, determining the fused navigation positioning data of the current vehicle based on the first historical positioning data and the current positioning data includes:

[0031] From the current positioning data, the current inertial navigation positioning data is determined;

[0032] The current inertial navigation positioning data is corrected based on the first historical positioning data to obtain the corrected current inertial navigation positioning data.

[0033] Based on the corrected current inertial navigation positioning data, the fused navigation positioning data of the current vehicle is determined.

[0034] Secondly, embodiments of the present invention also provide a fusion navigation and positioning device, the fusion navigation and positioning device comprising:

[0035] The acquisition module is used to acquire the first navigation route of the current vehicle, which includes the current location data and the destination location data.

[0036] The first determining module is used to determine, based on the current positioning data, whether the current vehicle is about to enter a target area on the navigation map, wherein the target area is a complex road section area;

[0037] The second determining module is used to determine whether the current vehicle has first historical positioning data in the target area if it is determined that the current vehicle is about to enter the target area. The first historical positioning data is inertial navigation positioning data.

[0038] The third determining module is used to determine the fused navigation positioning data of the current vehicle based on the first historical positioning data and the current positioning data if the current vehicle has first historical positioning data in the target area.

[0039] Thirdly, embodiments of the present invention provide an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps in the fusion navigation and positioning method provided in embodiments of the present invention.

[0040] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps in the fusion navigation and positioning method provided in the embodiments of the present invention.

[0041] In this embodiment of the invention, a first navigation route for the current vehicle is obtained, the first navigation route including current positioning data and destination positioning data; based on the current positioning data, it is determined on the navigation map whether the current vehicle is about to enter a target area, the target area being a complex road area; if it is determined that the current vehicle is about to enter the target area, it is determined whether the current vehicle has first historical positioning data in the target area, the first historical positioning data being inertial navigation positioning data; if the current vehicle has first historical positioning data in the target area, based on the first historical positioning data and the current positioning data, fused navigation positioning data for the current vehicle is determined. When the current vehicle is about to enter a complex road area, the first historical positioning data of the current vehicle in the complex road area is used to assist in fused positioning, avoiding the problem of low accuracy of fused positioning caused by inaccurate satellite navigation system signals, thereby improving the accuracy of fused positioning. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a flowchart of a fusion navigation and positioning method provided in an embodiment of the present invention;

[0044] Figure 2 This is a schematic diagram of the structure of a fusion navigation and positioning device provided in an embodiment of the present invention;

[0045] Figure 3This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] like Figure 1 As shown, Figure 1 This is a flowchart of a fusion navigation and positioning method provided in an embodiment of the present invention. The fusion navigation and positioning method includes the following steps:

[0048] 101. Obtain the first navigation route for the current vehicle.

[0049] In this embodiment of the invention, the aforementioned fusion navigation and positioning method can be applied to an in-vehicle navigation platform. This in-vehicle navigation platform can be located on an in-vehicle server or terminal, and it can also communicate with a vehicle-to-everything (V2X) platform. The V2X platform can store historical navigation and positioning data of connected vehicles. The fusion navigation and positioning system includes at least a satellite navigation system and an inertial navigation system. The satellite navigation system receives satellite signals to determine the current vehicle's satellite navigation and positioning system. The inertial navigation system is a navigation parameter calculation system using gyroscopes and accelerometers as sensitive devices. The inertial navigation system establishes a navigation coordinate system based on the gyroscope output and calculates the vehicle's velocity and position in the navigation coordinate system based on the accelerometer output, thus obtaining the current vehicle's inertial navigation and positioning data. In the fusion navigation and positioning information, more accurate navigation and positioning data is obtained by jointly calculating the satellite navigation and positioning data with the inertial navigation and positioning data.

[0050] The timing for acquiring the vehicle's primary navigation route can be set at specific time intervals. Alternatively, the satellite signals of the satellite navigation system in the fused positioning system can be monitored in real time, and the timing for acquiring the primary navigation route can be set when the satellite signal becomes abnormal. Of course, the timing for acquiring the primary navigation route can also be determined by combining satellite signal strength and the set time interval; for example, the primary navigation route can be acquired when the satellite signal becomes abnormal or when the set time interval is reached.

[0051] The aforementioned first navigation route is input by the driver of the current vehicle based on their navigation needs. When the driver inputs the destination, the in-vehicle navigation platform automatically plans at least one route from the current location to the destination. The driver can choose one of these planned routes as their navigation route. When satellite signals are abnormal or a set time interval is reached, the first navigation route of the current vehicle can be retrieved. The first navigation route includes current location data and destination location data. The current location data refers to the current location of the vehicle, and the destination location data refers to the driver's intended destination.

[0052] 102. Based on the current location data, determine on the navigation map whether the vehicle is about to enter the target area.

[0053] In this embodiment of the invention, a target area can be determined in the navigation map. The target area is a complex road segment area, which can be a section where main and auxiliary roads merge, an elevated road section, or other similar road segments. It should be noted that because main and auxiliary road merging sections involve multiple lanes merging and lane consolidation, and elevated road sections involve multiple lanes overlapping and intersecting in space, these complexities increase the positioning error of the satellite navigation system due to its relatively low positioning accuracy. This results in inaccurate positioning data extracted by the satellite navigation system during fusion positioning, thereby reducing the accuracy of the fusion positioning.

[0054] After obtaining the first navigation route, the current location of the vehicle is determined on the navigation map based on the current positioning data. The distance between the current location and the target area is then determined. If the distance between the current location and the target area is less than or equal to a preset distance, it is determined that the vehicle is about to enter the target area. If the distance between the current location and the target area is greater than the preset distance, it is determined that the vehicle is far from the target area.

[0055] 103. If it is determined that the current vehicle is about to enter the target area, then determine whether the current vehicle has first historical location data in the target area.

[0056] In this embodiment of the invention, if the current vehicle is about to enter the target area, it indicates that the current vehicle may have inaccurate positioning if it continues to drive. Specifically, if the current vehicle is about to enter the target area, it indicates that the current vehicle may have inaccurate positioning by the satellite navigation system if it continues to drive, which reduces the accuracy of the fusion positioning that relies on multi-source positioning data.

[0057] When a vehicle is about to enter the target area, the vehicle's historical location data can be obtained through the vehicle network platform or the local vehicle database. It can then be determined whether there is historical location data that has passed through the target area. If so, the historical location data that has passed through the target area is extracted as the first historical location data.

[0058] The aforementioned first historical positioning data is inertial navigation positioning data; during vehicle operation, the inertial navigation system stores the vehicle's inertial navigation positioning data locally or uploads it to the vehicle network platform.

[0059] 104. If the current vehicle has first historical positioning data in the target area, then the fused navigation positioning data of the current vehicle is determined based on the first historical positioning data and the current positioning data.

[0060] In this embodiment of the invention, if the current vehicle has first historical positioning data in the target area, it indicates that the current vehicle has passed through the target area. In this case, the first positioning data can be used to replace the satellite navigation positioning data and be fused with the current positioning data to obtain the fused navigation positioning data of the current vehicle. The aforementioned current positioning data is non-satellite positioning data; specifically, the aforementioned current positioning data is inertial navigation positioning data.

[0061] Specifically, before the current vehicle enters the target area, the first historical positioning data is obtained. When the current vehicle enters the target area, the first historical positioning data is used to replace the satellite navigation positioning data and is then fused with the current positioning data.

[0062] It should be noted that the Kal's filtering algorithm can be used to process the first historical positioning data and the current positioning data to obtain the fused navigation positioning data of the current vehicle.

[0063] In this embodiment of the invention, a first navigation route for the current vehicle is obtained, the first navigation route including current positioning data and destination positioning data; based on the current positioning data, it is determined on the navigation map whether the current vehicle is about to enter a target area, the target area being a complex road area; if it is determined that the current vehicle is about to enter the target area, it is determined whether the current vehicle has first historical positioning data in the target area, the first historical positioning data being inertial navigation positioning data; if the current vehicle has first historical positioning data in the target area, based on the first historical positioning data and the current positioning data, fused navigation positioning data for the current vehicle is determined. When the current vehicle is about to enter a complex road area, the first historical positioning data of the current vehicle in the complex road area is used to assist in fused positioning, avoiding the problem of low accuracy of fused positioning caused by inaccurate satellite navigation system signals, thereby improving the accuracy of fused positioning.

[0064] Optionally, after determining whether the current vehicle has first historical positioning data in the target area if it is determined that the current vehicle is about to enter the target area, if the current vehicle does not have first historical positioning data in the target area, a target vehicle with a second navigation route can be identified. The second navigation route includes at least the current positioning data and the destination positioning data. The target vehicle is a vehicle that has traveled through the target area within a preset time. The second historical positioning data of the target vehicle in the target area is obtained, and based on the second historical positioning data and the current positioning data, the fused navigation positioning data of the current vehicle is determined. The second historical positioning data is inertial navigation positioning data.

[0065] In this embodiment of the invention, if the current vehicle does not have first historical positioning data in the target area, it can be said that the current vehicle has not previously driven through the target area, or that the current vehicle did not use an inertial navigation positioning system when it previously drove through the target area.

[0066] After determining that the current vehicle is about to enter the target area, a search can be conducted on the local machine or the vehicle-to-everything (V2X) platform to determine if the vehicle has any first historical location data within the target area. If no such data is found, it can be confirmed that the current vehicle does not have any first historical location data within the target area. After confirming that the current vehicle does not have any first historical location data within the target area, other vehicles that have passed through the target area can be searched for, and the target vehicle with the second navigation route can be identified from among these vehicles.

[0067] The second navigation route mentioned above overlaps with the first navigation route. This overlapping route includes at least the current location of the current vehicle and the destination location of the current vehicle. The current location of the current vehicle is determined based on the current positioning data in the first navigation route, and the destination location of the current vehicle is determined based on the destination positioning data in the first navigation route.

[0068] The aforementioned target vehicles are those that have already passed through the target area before the current vehicle enters it. Vehicles connected to the vehicle-to-everything (V2X) platform upload inertial navigation and positioning data to the platform in real time. After receiving the inertial navigation and positioning data from each vehicle, the V2X platform stores it in the corresponding location. When the current vehicle requests historical positioning data from the V2X platform, it first searches for the current vehicle's historical positioning data. After finding the historical positioning data, it determines whether the current vehicle's historical positioning data includes historical positioning data for the target area. If the current vehicle's historical positioning data does not include positioning data for the target area, it searches for target vehicles with a second navigation route among other vehicles.

[0069] After locating the target vehicle with the second navigation route, the historical location data of the target vehicle is retrieved in the vehicle network platform. After retrieving the historical location data of the target vehicle, it is determined whether the historical location data of the target vehicle includes the historical location data of the target area. If the historical location data of the target vehicle includes the historical location data of the target area, then the historical location data including the target area is determined as the second historical location data.

[0070] If the target vehicle has second historical positioning data in the target area, it means that the target vehicle has already passed through the target area before the current vehicle enters the target area. In this case, the second positioning data can be used to replace the satellite navigation positioning data and be fused with the current positioning data to obtain the fused navigation positioning data of the current vehicle. The aforementioned current positioning data is non-satellite positioning data; specifically, it is inertial navigation positioning data.

[0071] Specifically, before the current vehicle enters the target area, second historical positioning data is acquired. When the current vehicle enters the target area, the second historical positioning data is used to replace the satellite navigation positioning data and is then fused with the current positioning data.

[0072] It should be noted that the Kal's filtering algorithm can be used to process the second historical positioning data and the current positioning data to obtain the fused navigation positioning data of the current vehicle.

[0073] In this embodiment of the invention, when the current vehicle is about to enter a complex road section area, the second historical positioning data of other vehicles in the complex road section area can be obtained. After the current vehicle enters the complex road section, the second historical positioning data of other vehicles in the complex road section area is used to assist in fusion positioning, avoiding the problem of low accuracy of fusion positioning caused by inaccurate satellite navigation system signals, thereby improving the accuracy of fusion positioning.

[0074] Optionally, in the step of determining the target vehicle with the second navigation route if the current vehicle does not have first historical positioning data in the target area, if the current vehicle does not have first historical positioning data in the target area, the current location can be determined based on the current positioning data; a first candidate vehicle that has passed through the current location within a preset time period can be determined in the vehicle database; and the target vehicle with the second navigation route can be determined from the first candidate vehicle.

[0075] In this embodiment of the invention, when no first historical positioning data exists for the current vehicle in the target area, the current location of the current vehicle can be determined based on the current positioning data in the first navigation route. The aforementioned preset time can be a manually set time, such as within a day.

[0076] Once the current location of a vehicle is determined, vehicles that have passed through that location within a preset time period can be identified from the vehicle database. This vehicle database is mainly used to store vehicle information that passes through various complex road sections. By searching through the current location, vehicles that have passed through the target area can be obtained as the first candidate vehicles.

[0077] After obtaining the first candidate vehicle, the nearest navigation route of the first candidate vehicle can be found, and the nearest navigation route can be used to determine whether there is a vehicle with a second navigation route among the first candidate vehicles. If there is, the vehicle with the second navigation route can be identified as the target vehicle.

[0078] In this embodiment of the invention, vehicles passing through the target area can be filtered based on the current location, and then target vehicles with a second navigation route can be further filtered out from these vehicles. This allows for the rapid filtering of target vehicles with a second navigation route, thereby improving vehicle filtering efficiency.

[0079] Optionally, in the step of determining the target vehicle with the second navigation route from the first candidate vehicles, the historical navigation routes of each first candidate vehicle can be determined; a second navigation route including at least the current positioning data and the destination positioning data can be determined from the historical navigation routes; and the target vehicle can be determined from the first candidate vehicles based on the second navigation route.

[0080] In this embodiment of the invention, after obtaining the first candidate vehicle, the historical navigation route of the first candidate vehicle can be searched to determine whether it includes the current location data and the destination location data of the first navigation route. If the historical navigation route includes the current location data and the destination location data of the first navigation route, then the historical navigation route is determined as the second navigation route, and the first candidate vehicle with the second navigation route is determined as the target vehicle.

[0081] It should be noted that the target vehicle has a second navigation route. The current positioning data and the destination positioning data in the first navigation route are the locations passed through in the second navigation route. The current vehicle is traveling according to the first navigation route. Therefore, the travel routes of the target vehicle and the current vehicle partially overlap, and the target vehicle will pass through the aforementioned target area. At this time, when the current vehicle needs to travel through the target area without the first historical positioning data, it obtains the second historical positioning data of the target vehicle in the complex road section area. After the current vehicle enters the complex road section, it uses the second historical positioning data of other vehicles in the complex road section area to assist in the fusion positioning, avoiding the problem of low accuracy of fusion positioning caused by inaccurate satellite navigation system signals, thereby improving the accuracy of fusion positioning.

[0082] Optionally, in the step of determining the target vehicle from the first candidate vehicles based on the second navigation route, a second candidate vehicle with the second navigation route may be determined from the first candidate vehicles; the correlation between the second candidate vehicle and the current vehicle may be calculated; and the target vehicle may be determined from the second candidate vehicles based on the correlation.

[0083] In this embodiment of the invention, among the first candidate vehicles, the first candidate vehicle with the second navigation route is determined as the second candidate vehicle. There are multiple second candidate vehicles, and the aforementioned correlation may include at least one of vehicle correlation, driving behavior correlation, and driving parameter correlation.

[0084] Vehicle relevance can be determined based on vehicle-related information such as brand, model, and batch. This information is encoded to obtain vehicle coding data. The similarity between the current vehicle's coding data and the coding data of a second candidate vehicle is calculated to determine the vehicle similarity between them. The higher the vehicle similarity between the second candidate vehicle and the current vehicle, the higher their relevance.

[0085] Optionally, in the step of calculating the correlation between the second candidate vehicle and the current vehicle, the following steps may be taken: obtaining first driver behavior data of the current vehicle and second driver behavior data of the second candidate vehicle; determining the driving behavior correlation between the second candidate vehicle and the current vehicle based on the first driver behavior data and the second driver behavior data; obtaining first driving parameters of the current vehicle and second driving parameters of the second candidate vehicle; determining the driving parameter correlation between the second candidate vehicle and the current vehicle based on the first driving parameters and the second driving parameters; and determining the correlation between the second candidate vehicle and the current vehicle based on the driving behavior correlation and the driving parameter correlation.

[0086] In this embodiment of the invention, the aforementioned first driver behavior data and second driver behavior data may include light-related behaviors, lane-changing behaviors, U-turn behaviors, overtaking behaviors, etc. The first driver data can be collected by behavior sensors in the current vehicle and uploaded to the in-vehicle navigation platform, while the second driver behavior data can be collected by behavior sensors in a second candidate vehicle and uploaded to the in-vehicle navigation platform. These behavior sensors may include light sensors, lane-changing sensors, U-turn sensors, overtaking sensors, etc. Both the first and second driver behavior data are time-series data.

[0087] The aforementioned first and second driving parameters may include speed parameters, acceleration parameters, braking parameters, cruise control time, acceleration time, braking time, and other driving parameters. The first driving parameter can be collected from the parameter sensors in the current vehicle and uploaded to the vehicle navigation platform, while the second driving parameter can be collected from the parameter sensors in a second candidate vehicle and uploaded to the vehicle navigation platform. These parameter sensors may include speed sensors, braking sensors, timers, etc. Both the first and second driving parameters are time-series data.

[0088] Furthermore, after obtaining the behavior data of the first driver, the behavior data of the first driver can be encoded as AN = (a1, a2, ..., a...). n-1 a n ), where a n The first driver's behavior data corresponds to the nth time point, where n is the time when it is determined that the vehicle is about to enter the target area, and n is greater than 1. After obtaining the second driver's behavior data, it can be encoded as BN = (b1, b2, ..., b...). n-1 b n ), where b n This corresponds to the behavior data of the second driver at time n. The aforementioned driving behavior correlation can be calculated using the similarity between AN and BN, where the similarity can be cosine similarity. Specifically, the aforementioned driving behavior correlation Sim1 can be expressed by the following formula:

[0089] Sim1 = COS(AN, BN)

[0090] After obtaining the first driving parameters, the first driving parameters can be encoded as CN = (c1, c2, ..., c n-1 c n ), where c n The first driving parameters correspond to the nth time point, where the nth time point is the time when the vehicle is about to enter the target area, and n is greater than 1. After obtaining the second driver's behavior data, the second driver's behavior data can be encoded as DN = (d1, d2, ..., d...). n-1 d n ), where d n This corresponds to the behavior data of the second driver at time n. The above-mentioned driving behavior correlation can be obtained by calculating the similarity between CN and DN, and this similarity can be cosine similarity. Specifically, the above-mentioned driving parameter correlation Sim2 can be expressed by the following formula:

[0091] Sim1 = COS(CN, DN)

[0092] After calculating the driving behavior correlation Sim1 and the driving parameter correlation Sim2, the correlation between the second candidate vehicle and the current vehicle can be determined based on these two correlations. The correlation between the second candidate vehicle and the current vehicle can be the sum or product of the driving behavior correlation Sim1 and the driving parameter correlation Sim2. It can be understood that the larger the sum or product of the driving behavior correlation Sim1 and the driving parameter correlation Sim2, the greater the correlation between the second candidate vehicle and the current vehicle.

[0093] In one possible embodiment, the existence of multiple second navigation and positioning data for the second candidate vehicle indicates that the second candidate vehicle has passed through the target area multiple times within a preset time period. The correlation S between the second candidate vehicle and the current vehicle can be calculated using the following formula:

[0094]

[0095] ΔT i =T-Ti

[0096] Where M represents the number of second navigation positioning data corresponding to each second candidate vehicle, and Sim1 represents the number of second navigation positioning data corresponding to each second candidate vehicle. i This represents the correlation of driving behavior corresponding to the i-th second navigation positioning data in the second candidate vehicle, as stated in Sim2 above. i Let represent the correlation of driving parameters corresponding to the i-th second navigation positioning data in the second candidate vehicle, Sim0 represent the vehicle correlation between the second candidate vehicle and the current vehicle, T represent the time when the current vehicle is about to enter the target area, and Ti represent the time corresponding to the position in the i-th second navigation positioning data in the second candidate vehicle, which is the position corresponding to the time T when the current vehicle is about to enter the target area. Through the above formula, when ΔT... iThe smaller the value, the shorter the interval between the current vehicle and the i-th second navigation positioning data of the second candidate vehicle, and the greater the correlation S between the second candidate vehicle and the current vehicle. Sim0 is the cosine similarity, which is a value between 0 and 1. When Sim0 is larger, log(Sim0) is smaller, and the correlation S between the second candidate vehicle and the current vehicle is larger. Moreover, log(Sim0) can control the degree of change of the correlation S between the second candidate vehicle and the current vehicle. The larger Sim0 is, the more stable the change of the correlation S between the second candidate vehicle and the current vehicle. The smaller Sim0 is, the more rapid the change of the correlation S between the second candidate vehicle and the current vehicle. Therefore, the more similar the vehicle parameters, the more stable the change of the correlation S between the second candidate vehicle and the current vehicle. The less similar the vehicle parameters, the more rapid the change of the correlation S between the second candidate vehicle and the current vehicle.

[0097] Furthermore, after obtaining the correlation S between multiple second candidate vehicles and the current vehicle, the second candidate vehicle with the highest correlation can be identified as the target vehicle, and then the second historical positioning data corresponding to the target vehicle can be obtained.

[0098] Optionally, in the step of determining the fused navigation positioning data of the current vehicle based on the first historical positioning data and the current positioning data, the current inertial navigation positioning data can be determined from the current positioning data; the current inertial navigation positioning data can be corrected according to the first historical positioning data to obtain the corrected current inertial navigation positioning data; and the fused navigation positioning data of the current vehicle can be determined based on the corrected current inertial navigation positioning data.

[0099] In this embodiment of the invention, after obtaining the first historical positioning data, the first historical positioning data can be corrected with the current inertial navigation positioning data to obtain the corrected current inertial navigation positioning data. The corrected current inertial navigation positioning data is then used to replace the original satellite navigation positioning data for Kalman filtering to obtain the fused navigation positioning data of the current vehicle.

[0100] In one possible embodiment, after obtaining the second historical positioning data, the second historical positioning data can be corrected with the current inertial navigation positioning data to obtain the corrected current inertial navigation positioning data. The corrected current inertial navigation positioning data is then used to replace the original satellite navigation positioning data for Kalman filtering to obtain the fused navigation positioning data of the current vehicle.

[0101] It should be noted that the original fusion navigation used satellite navigation positioning data and inertial navigation positioning data for joint calculation to obtain more accurate navigation and positioning data. This embodiment of the invention replaces the original satellite navigation positioning data with corrected current inertial navigation positioning data for joint calculation, thus improving the road-catching accuracy of fusion navigation in complex road conditions by not relying on satellite navigation positioning data.

[0102] like Figure 2 As shown, an embodiment of the present invention provides a fusion navigation and positioning device, which includes:

[0103] The acquisition module 201 is used to acquire the first navigation route of the current vehicle, the first navigation route including current positioning data and destination positioning data;

[0104] The first determining module 202 is used to determine, based on the current positioning data, whether the current vehicle is about to enter a target area on the navigation map, wherein the target area is a complex road section area;

[0105] The second determining module 203 is used to determine whether the current vehicle has first historical positioning data in the target area if it is determined that the current vehicle is about to enter the target area. The first historical positioning data is inertial navigation positioning data.

[0106] The third determining module 204 is used to determine the fused navigation positioning data of the current vehicle based on the first historical positioning data and the current positioning data if the current vehicle has first historical positioning data in the target area.

[0107] Optionally, the device further includes:

[0108] The fourth determining module is used to determine a target vehicle with a second navigation route if the current vehicle does not have first historical positioning data in the target area. The second navigation route includes at least the current positioning data and the destination positioning data. The target vehicle is a vehicle that has traveled through the target area within a preset time.

[0109] The fifth determining module is used to acquire the second historical positioning data of the target vehicle in the target area, and based on the second historical positioning data and the current positioning data, determine the fused navigation positioning data of the current vehicle, wherein the second historical positioning data is inertial navigation positioning data.

[0110] Optionally, the fourth determining module is further configured to determine the current location based on the current location data if the current vehicle does not have first historical location data in the target area; determine a first candidate vehicle that has traveled through the current location within a preset time in the vehicle database; and determine a target vehicle with a second navigation route among the first candidate vehicles.

[0111] Optionally, the fourth determining module is further configured to determine the historical navigation routes of each of the first candidate vehicles; determine a second navigation route from the historical navigation routes that includes at least the current positioning data and the destination positioning data; and determine the target vehicle from the first candidate vehicles based on the second navigation route.

[0112] Optionally, the fourth determining module is further configured to determine a second candidate vehicle with the second navigation route from the first candidate vehicles; calculate the correlation between the second candidate vehicle and the current vehicle; and determine the target vehicle from the second candidate vehicles based on the correlation.

[0113] Optionally, the fourth determining module is further configured to acquire first driver behavior data of the current vehicle and second driver behavior data of the second candidate vehicle; determine the driving behavior correlation between the second candidate vehicle and the current vehicle based on the first driver behavior data and the second driver behavior data; acquire first driving parameters of the current vehicle and second driving parameters of the second candidate vehicle; determine the driving behavior driving parameter correlation between the second candidate vehicle and the current vehicle based on the first driving parameters and the second driving parameters; and determine the correlation between the second candidate vehicle and the current vehicle based on the driving behavior correlation and the driving parameter correlation.

[0114] Optionally, the third determining module 204 is further configured to: determine current inertial navigation positioning data from the current positioning data; perform correction processing on the current inertial navigation positioning data according to the first historical positioning data to obtain corrected current inertial navigation positioning data; and determine the fused navigation positioning data of the current vehicle based on the corrected current inertial navigation positioning data.

[0115] The fusion navigation and positioning device provided in this embodiment of the invention can implement all the processes implemented by the fusion navigation and positioning method in the above-described method embodiments, and can achieve the same beneficial effects. To avoid repetition, it will not be described again here.

[0116] See Figure 3 , Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention, such as... Figure 3As shown, it includes: a memory 302, a processor 301, and a computer program for a fusion navigation and positioning method stored in the memory 302 and executable on the processor 301, wherein:

[0117] The processor 301 is used to call the computer program stored in the memory 302 and perform the following steps:

[0118] Obtain the first navigation route for the current vehicle, which includes current location data and destination location data;

[0119] Based on the current location data, determine on the navigation map whether the current vehicle is about to enter the target area, which is a complex road area;

[0120] If it is determined that the current vehicle is about to enter the target area, then it is determined whether the current vehicle has first historical positioning data in the target area, wherein the first historical positioning data is inertial navigation positioning data;

[0121] If the current vehicle has first historical positioning data in the target area, then the fused navigation positioning data of the current vehicle is determined based on the first historical positioning data and the current positioning data.

[0122] Optionally, after determining whether the current vehicle has first historical location data in the target area if it is determined that the current vehicle is about to enter the target area, the method executed by the processor 301 further includes:

[0123] If the current vehicle does not have first historical location data in the target area, then a target vehicle with a second navigation route is determined. The second navigation route includes at least the current location data and the destination location data. The target vehicle is a vehicle that has traveled through the target area within a preset time.

[0124] The second historical positioning data of the target vehicle in the target area is obtained, and based on the second historical positioning data and the current positioning data, the fused navigation positioning data of the current vehicle is determined, wherein the second historical positioning data is inertial navigation positioning data.

[0125] Optionally, the step of processor 301 determining a target vehicle with a second navigation route if the current vehicle does not have first historical positioning data in the target area includes:

[0126] If the current vehicle does not have first historical location data in the target area, then the current location is determined based on the current location data;

[0127] Determine the first candidate vehicle that passes through the current location within a preset time period from the vehicle database;

[0128] The target vehicle with the second navigation route is identified from the first candidate vehicles.

[0129] Optionally, the step of processor 301 in determining the target vehicle with the second navigation route among the first candidate vehicles includes:

[0130] Determine the historical navigation routes of each of the first candidate vehicles;

[0131] A second navigation route is determined from the historical navigation routes, including at least the current location data and the destination location data;

[0132] Based on the second navigation route, the target vehicle is identified from the first candidate vehicles.

[0133] Optionally, the process of determining the target vehicle among the first candidate vehicles based on the second navigation route, executed by processor 301, includes:

[0134] A second candidate vehicle with the second navigation route is identified from the first candidate vehicles;

[0135] Calculate the correlation between the second candidate vehicle and the current vehicle;

[0136] Based on the correlation, the target vehicle is determined from the second candidate vehicles.

[0137] Optionally, the calculation of the correlation between the second candidate vehicle and the current vehicle performed by the processor 301 includes:

[0138] Obtain the first driver behavior data of the current vehicle, and obtain the second driver behavior data of the second candidate vehicle;

[0139] Based on the first driver behavior data and the second driver behavior data, the driving behavior correlation between the second candidate vehicle and the current vehicle is determined;

[0140] Obtain the first driving parameters of the current vehicle, and obtain the second driving parameters of the second candidate vehicle;

[0141] Based on the first driving parameters and the second driving parameters, determine the correlation of driving behavior parameters between the second candidate vehicle and the current vehicle;

[0142] Based on the correlation of driving behavior and the correlation of driving parameters, the correlation between the second candidate vehicle and the current vehicle is determined.

[0143] Optionally, the process executed by processor 301 to determine the fused navigation positioning data of the current vehicle based on the first historical positioning data and the current positioning data includes:

[0144] From the current positioning data, the current inertial navigation positioning data is determined;

[0145] The current inertial navigation positioning data is corrected based on the first historical positioning data to obtain the corrected current inertial navigation positioning data.

[0146] Based on the corrected current inertial navigation positioning data, the fused navigation positioning data of the current vehicle is determined.

[0147] The electronic device provided in this embodiment of the invention can implement all the processes achieved by the fusion navigation and positioning method in the above-described method embodiments, and can achieve the same beneficial effects. To avoid repetition, it will not be described again here.

[0148] This invention also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the fusion navigation and positioning method or the application-side fusion navigation and positioning method provided in this invention, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0149] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0150] The above description discloses only preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Therefore, equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A fusion navigation and positioning method, characterized in that, include: Obtain the first navigation route for the current vehicle, which includes current location data and destination location data; Based on the current location data, determine on the navigation map whether the current vehicle is about to enter the target area, which is a complex road area; If it is determined that the current vehicle is about to enter the target area, then it is determined whether the current vehicle has first historical positioning data in the target area, the first historical positioning data being inertial navigation positioning data; if the current vehicle does not have first historical positioning data in the target area, then a target vehicle with a second navigation route is determined, the second navigation route including at least the current positioning data and the destination positioning data, the target vehicle being a vehicle that has traveled through the target area within a preset time. The second historical positioning data of the target vehicle in the target area is obtained, and based on the second historical positioning data and the current positioning data, the fused navigation positioning data of the current vehicle is determined, wherein the second historical positioning data is inertial navigation positioning data; If the current vehicle has first historical positioning data in the target area, then the fused navigation positioning data of the current vehicle is determined based on the first historical positioning data and the current positioning data.

2. The method as described in claim 1, characterized in that, If the current vehicle does not have first historical location data in the target area, then determining the target vehicle with the second navigation route includes: If the current vehicle does not have first historical location data in the target area, then the current location is determined based on the current location data; Determine the first candidate vehicle that passes through the current location within a preset time period from the vehicle database; The target vehicle with the second navigation route is identified from the first candidate vehicles.

3. The method as described in claim 2, characterized in that, The step of identifying the target vehicle with the second navigation route from the first candidate vehicles includes: Determine the historical navigation routes of each of the first candidate vehicles; A second navigation route is determined from the historical navigation routes, including at least the current location data and the destination location data; Based on the second navigation route, the target vehicle is identified from the first candidate vehicles.

4. The method as described in claim 3, characterized in that, The step of determining the target vehicle from the first candidate vehicles based on the second navigation route includes: A second candidate vehicle with the second navigation route is identified from the first candidate vehicles; Calculate the correlation between the second candidate vehicle and the current vehicle; Based on the correlation, the target vehicle is determined from the second candidate vehicles.

5. The method as described in claim 4, characterized in that, The calculation of the correlation between the second candidate vehicle and the current vehicle includes: Obtain the first driver behavior data of the current vehicle, and obtain the second driver behavior data of the second candidate vehicle; Based on the first driver behavior data and the second driver behavior data, the driving behavior correlation between the second candidate vehicle and the current vehicle is determined; Obtain the first driving parameters of the current vehicle, and obtain the second driving parameters of the second candidate vehicle; Based on the first driving parameters and the second driving parameters, the correlation of driving parameters between the second candidate vehicle and the current vehicle is determined; Based on the correlation of driving behavior and the correlation of driving parameters, the correlation between the second candidate vehicle and the current vehicle is determined.

6. The method according to any one of claims 1 to 5, characterized in that, The step of determining the fused navigation positioning data of the current vehicle based on the first historical positioning data and the current positioning data includes: From the current positioning data, the current inertial navigation positioning data is determined; The current inertial navigation positioning data is corrected based on the first historical positioning data to obtain the corrected current inertial navigation positioning data. Based on the corrected current inertial navigation positioning data, the fused navigation positioning data of the current vehicle is determined.

7. A fusion navigation and positioning device, characterized in that, The fusion navigation and positioning device includes: The acquisition module is used to acquire the first navigation route of the current vehicle, which includes the current location data and the destination location data. The first determining module is used to determine, based on the current positioning data, whether the current vehicle is about to enter a target area on the navigation map, wherein the target area is a complex road section area; The second determining module is configured to: if it is determined that the current vehicle is about to enter the target area, determine whether the current vehicle has first historical positioning data in the target area, wherein the first historical positioning data is inertial navigation positioning data; if the current vehicle does not have first historical positioning data in the target area, determine a target vehicle with a second navigation route, wherein the second navigation route includes at least the current positioning data and the destination positioning data, and the target vehicle is a vehicle that has traveled through the target area within a preset time; acquire the second historical positioning data of the target vehicle in the target area, and determine the fused navigation positioning data of the current vehicle based on the second historical positioning data and the current positioning data, wherein the second historical positioning data is inertial navigation positioning data; The third determining module is used to determine the fused navigation positioning data of the current vehicle based on the first historical positioning data and the current positioning data if the current vehicle has first historical positioning data in the target area.

8. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the fusion navigation and positioning method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the fusion navigation and positioning method as described in any one of claims 1 to 6.

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