GPS signal correction method, device, vehicle and storage medium

Abstract

The embodiments of the present application provide a GPS signal correction method, device, vehicle, and storage medium, which relate to the field of positioning technology. The method comprises obtaining historical driving routes of multiple vehicles, wherein each vehicle has at least one historical driving route, and each historical driving route includes multiple GPS signal points; determining the two most distant historical driving routes on the same road as a first route and a second route; determining the azimuth between each pair of GPS signal points in the first route and the second route that have a one-to-one correspondence; determining the distance between each GPS signal point in the first route and the second route; and determining a corrected driving route based on the azimuth between each pair of GPS signal points and the distance between each GPS signal point in the first route and the second route, thereby taking both the azimuth and the distance into account and improving the accuracy of GPS signal correction.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese application No. 202311155536.6, filed on September 7, 2023, the entire contents of which are hereby incorporated by reference for all purposes. Technical Field

[0003] The embodiments of the present application relate to the field of positioning technology, and specifically to a GPS signal correction method, device, vehicle, and storage medium. Background Art

[0004] With the development of big data, the development of many vehicle-related businesses requires data collection from users, especially the collection of driving data. While driving, the vehicle will send Global Positioning System (GPS) signals to the server at certain intervals, where the GPS signals include the latitude and longitude coordinates of the vehicle. The server can collect these GPS signals and fit them to form the vehicle's driving route. Using this driving data can help with the development of businesses such as charging station site selection.

[0005] However, during GPS signal acquisition, signal drift or loss may occur. For example, when a vehicle is traveling in a tunnel, poor signal quality may prevent acquisition, resulting in missing GPS signal points on the road section within the tunnel. For example, for unknown reasons, the GPS signal may drift unexpectedly while the vehicle is driving, and the drift distance may be quite exaggerated (e.g., the vehicle is in China, but the signal point is shifted to Europe).

[0006] To improve the accuracy of GPS signal acquisition, it is necessary to correct offset or lost GPS signal points. However, the existing technology has poor accuracy in correcting GPS signal points. Summary of the Invention

[0007] The embodiments of the present application provide a GPS signal correction method, device, vehicle, and storage medium to solve the problem of poor GPS signal correction accuracy in the prior art.

[0008] In a first aspect, an embodiment of the present application provides a GPS signal correction method, the method comprising: obtaining historical driving routes of multiple vehicles, wherein each vehicle has at least one historical driving route and each historical driving route includes multiple GPS signal points; among the multiple historical driving routes located on the same road, determining the two historical driving routes farthest apart as a first route and a second route; determining the azimuth between each pair of GPS signal points in the first route and the second route that have a one-to-one correspondence; determining the distance between each GPS signal point in the first route and the second route; and determining a corrected driving route based on the azimuth between each pair of GPS signal points and the distance between each GPS signal point in the first route and the second route.

[0009] In a second aspect, an embodiment of the present application provides a GPS signal correction device, the device comprising a historical route acquisition module for acquiring historical driving routes of multiple vehicles, wherein each vehicle has at least one historical driving route and each historical driving route includes multiple GPS signal points; a target route acquisition module for determining the two farthest-separated historical driving routes among multiple historical driving routes located on the same road as a first route and a second route; an azimuth acquisition module for determining the azimuth between each pair of GPS signal points in the first route and the second route that have a one-to-one correspondence; a distance acquisition module for determining the distance between each GPS signal point in the first route and the second route; and a route correction module for determining a corrected driving route based on the azimuth between each pair of GPS signal points and the distance between each GPS signal point in the first route and the second route.

[0010] In a third aspect, an embodiment of the present application provides a vehicle, comprising a memory; one or more processors; and one or more applications, wherein the one or more applications are stored in the memory and are used to execute the method described above when called by the one or more processors.

[0011] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which program code is stored. The program code is used to execute the method described above when called by a processor.

[0012] The GPS signal correction method, device, vehicle, and storage medium provided in the embodiments of the present application obtain historical driving routes of multiple vehicles, and determine the two historical routes that are farthest apart from each other among multiple historical driving routes located on the same road as a first route and a second route; determine the azimuth between each pair of GPS signal points in the first route and the second route, and determine the distance between each GPS signal point in the first route and the second route. Based on the azimuth between each pair of GPS signal points and the distance between each GPS signal point in the first route and the second route, a corrected driving route is determined. This allows the azimuth and distance to be taken into account, corrects lost or offset GPS signal points, and improves the correction accuracy of GPS signal points. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0014] Figure 1 A flowchart of a GPS signal correction method according to an embodiment of the present application is shown;

[0015] Figure 2 A schematic diagram showing a first route and a second route provided by an exemplary embodiment of the present application is shown;

[0016] Figure 3 A schematic diagram showing the interpolation time axis of the first route and the second route provided by an exemplary embodiment of the present application;

[0017] Figure 4 A flowchart of a GPS signal correction method according to another embodiment of the present invention is shown;

[0018] Figure 5 FIG2 is a flow chart showing a GPS signal correction method according to another embodiment of the present application;

[0019] Figure 6 A schematic diagram of the structure of a GPS signal correction device provided in an embodiment of the present application is shown;

[0020] Figure 7 A schematic structural diagram of a vehicle provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the present invention, the following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0022] See also Figure 1 , Figure 1 The flowchart of the GPS signal correction method provided by one embodiment of the present application is shown. The GPS signal correction method can be applied to a GPS signal correction device or a vehicle. The GPS signal correction method can specifically include the following steps S110 to S150.

[0023] Step S110: Acquire historical driving routes of multiple vehicles, wherein each vehicle has at least one historical driving route, and each historical driving route includes multiple GPS signal points.

[0024] The collection of historical driving routes can be restricted to a specific area, for example, only the historical driving routes of multiple vehicles in a specific area can be collected. It is understood that the acquisition of historical driving routes is achieved by collecting GPS signal points. The collection of GPS signal points can have a pre-set period, and the collection period of GPS signal points for each vehicle can be set to be the same.

[0025] Additionally, you can collect the daily driving routes of multiple vehicles within a preset time range, for example, obtaining the daily driving routes of multiple vehicles over the past three days. The preset time range can be customized based on data needs. A larger collection range and a larger sample size will result in higher accuracy in the final calibration.

[0026] Step S120: Among the multiple historical driving routes located on the same road, determine the two historical driving routes that are farthest apart as the first route and the second route.

[0027] Taking into account that the number of GPS points on the two historical driving routes located on the same road and the farthest apart may be the same or different, for the convenience of expression, when the number of GPS points on the two historical driving routes is the same, any one of the two historical driving routes can be used as the first route, and the other route as the second route; when the number of GPS points on the two historical driving routes is different, in order to accurately perform the interpolation operation below, in an embodiment of the present application, the route with more GPS points on the two historical driving routes located on the same road and the farthest apart is defined as the first route, and the other route is defined as the second route.

[0028] From the historical driving routes of multiple vehicles, multiple historical driving routes located on the same road are screened out so as to correct the GPS signal points of the driving routes corresponding to the road.

[0029] In some implementations, the starting points of multiple vehicles' historical driving routes can be clustered based on the distance between their starting points to form multiple starting point clusters; the end points of multiple vehicles' historical driving routes can be clustered based on the distance between their end points to form multiple end point clusters. The clustering radius of both the starting point cluster and the end point cluster can be set based on actual accuracy requirements and is not limited here. The smaller the clustering radius, the closer the distance between starting points within the same starting point cluster, and the closer the end points within the same end point cluster.

[0030] It is understood that if the historical driving route collection area is small, such as only the area around a road, then if two driving routes have similar starting points and end points, they can be roughly considered to be driving routes located on the same road. In some embodiments, the driving routes of multiple vehicles whose starting points belong to the same starting point cluster and whose end points belong to the same end point cluster can be determined as multiple historical driving routes located on the same road.

[0031] If the collection area of ​​historical driving routes is larger, for example, the collection area includes multiple intersecting roads, then when two driving routes have similar starting points and end points, there may be detours along the way. In other embodiments, to improve the accuracy of determining driving routes located on the same road, the driving routes of multiple vehicles whose starting points belong to the same starting point cluster and whose end points belong to the same end point cluster can be determined as filtered driving routes; the distance between each two filtered driving routes belonging to different vehicles or different days in the filtered driving routes is calculated separately; and the driving routes with a distance less than a preset distance in the filtered driving routes are determined to be multiple historical driving routes located on the same road. If the distance is less than the preset distance, it means that the two filtered driving routes are not far apart, and it can be basically determined that the two filtered driving routes are located on the same road.

[0032] In some embodiments, for each historical driving route located on the same road, the historical driving route can be divided into multiple track segments according to a preset track segmentation rule, and the GPS signal points on the multiple track segments are fitted respectively to obtain multiple polynomials for representing the historical driving route, and each polynomial corresponds to a track segment of the historical driving route. In an embodiment of the present application, the number of multiple polynomials corresponding to each historical driving route located on the same road is the same, ensuring that in the historical driving routes on the same road, for any polynomial corresponding to any historical driving route, there is a polynomial corresponding to another historical driving route, that is, the polynomials in each historical driving route located on the same road have a one-to-one correspondence. For example, the preset track segmentation rule may include segmenting the historical driving route according to a preset time length, or segmenting the historical driving route according to a preset route length. As an example, assuming that historical driving route 1 and historical driving route 2 are located on the same road, according to the preset time length, that is, time period 1, time period 2, and time period 3, historical driving routes 1 and 2 can be divided into three trajectories corresponding to time period 1, time period 2, and time period 3 respectively. By fitting each trajectory of historical driving routes 1 and 2 respectively, we can obtain polynomial 1 (corresponding to time period 1), polynomial 2 (corresponding to time period 2), and polynomial 3 (corresponding to time period 3) for representing historical driving route 1, and polynomial 4 (corresponding to time period 1), polynomial 5 (corresponding to time period 2), and polynomial 6 (corresponding to time period 3) for representing historical driving route 2. Then polynomial 1 corresponds to polynomial 4, polynomial 2 corresponds to polynomial 5, and polynomial 3 corresponds to polynomial 6.

[0033] In the longitude and latitude coordinate system, historical driving routes on the same road can be calculated pairwise to obtain the total area between the two historical driving routes. The method for calculating the total area between two historical driving routes may include: integrating each pair of polynomials with a one-to-one correspondence in the two historical driving routes, and calculating the sum of all the integral results as the total area between the two historical driving routes. For example, refer to Figure 2 , let polyfit1(x) represent any polynomial corresponding to one of the two historical driving routes (for example, the first route), let polyfit2(x) represent the polynomial corresponding to the other of the two historical driving routes (for example, the second route) and polynomial corresponding to polyfit1(x), then the starting points of the two historical driving routes are both represented as 0 and the end points are both represented as 1, then the total area S between the two driving routes can be calculated according to the following expression polyfit :

[0034]

[0035] In some embodiments, historical driving routes on the same road are calculated pairwise to obtain a set of routes with the largest total area. The set of routes with the largest total area includes a first route and a second route, where the number of GPS signal points on the first route is greater than or equal to the number of GPS signal points on the second route. It will be appreciated that when two driving routes correspond to the same road, the greater the total area between the two routes, the greater the distance between them.

[0036] By correcting the GPS signal points on the driving route of the road based on the first route and the second route that are located on the same road and are the farthest apart, the corrected driving route below can be made as close as possible to the center line of the first route and the second route, so that the corrected driving route is likely to fall within the range of the road for vehicle driving, thereby reducing the number of corrections of GPS signal points and improving the correction efficiency of GPS signal points.

[0037] Step S130: Determine the azimuth between each pair of GPS signal points in a one-to-one correspondence between the first route and the second route.

[0038] In this embodiment of the present application, since the azimuth between each pair of GPS signal points can only be calculated if the number of GPS signal points on the first and second routes is the same, if the number of GPS signal points on the first and second routes is different, as previously described, the route with more GPS points among the two historical driving routes located on the same road and farthest apart is defined as the first route, and the other route is defined as the second route (the definitions of the first and second routes are for ease of understanding only and are not actual steps). The GPS signal points on the second route are interpolated based on the GPS signal points on the first route to obtain the interpolated second route, so that the number of GPS signal points on the interpolated second route is the same as the number of GPS signal points on the first route, thereby ensuring that step S130 can be accurately executed. The interpolation method may include: for each time point to be interpolated in the second route, copying the GPS signal point at the previous time point to be interpolated as the GPS signal point at the time point to be interpolated, so as to interpolate the time point to be interpolated in the second route.

[0039] See also Figure 3 , assuming Figure 3The two solid lines in the figure represent the time axes of the first and second routes, respectively. a1, b1, c1, and d1 are the GPS signal points of the first route, and a2, b2, and c2 are the original GPS signal points of the second route. The original GPS signal points are represented by hollow dots, and the points at the same time are connected by dotted lines. It can be seen that in the time axis of the first route, the moment corresponding to b1 (the moment to be interpolated) originally had no corresponding GPS signal point in the time axis of the second route. Therefore, interpolation is required for this moment. The GPS signal point of the previous moment on the second route (i.e., a2 represented by a hollow dot) can be copied to the moment corresponding to b1. That is, after interpolation, a new GPS signal point (i.e., a2 represented by a solid dot) is added to the time axis of the second route corresponding to the moment where b1 is located.

[0040] It should be noted that if Figure 3 As shown, in the embodiment of the present application, the GPS signal point of the first route (such as Figure 3 b1 shown) and the GPS signal points copied at the corresponding moment of the second route (as shown Figure 3 a2) represented by a solid dot has a corresponding relationship only on the time axis (hollow dot b1 corresponds to solid dot a2), that is, it is only located at the corresponding moment on the time axis, but the actual longitude and latitude coordinates still maintain the longitude and latitude coordinates of the copied GPS signal point (the actual longitude and latitude coordinates of the hollow dot a2 are the same as those of the solid dot a2).

[0041] It is understandable that the interpolation operation is to make the number of GPS signal points on the first route and the second route consistent, so that the azimuth of each GPS signal point on the first route can be accurately calculated to ensure the accuracy of the final corrected driving route.

[0042] The GPS signal points corresponding to the same frame (i.e., the same time) in the first route and the second route (after interpolation) are a pair of GPS signal points. Each pair of GPS signal points can be connected to form a connecting line between each pair of GPS signal points; the angle between the connecting line between each pair of GPS signal points and the north direction is determined as the azimuth between each pair of GPS signal points.

[0043] Step S140: Determine the distance between each GPS signal point in the first route and the second route.

[0044] In some embodiments, adjacent GPS signal points in the first route can be connected to determine the distance between adjacent GPS signal points in the first route to obtain multiple distances; based on the GPS signal points of the first route, the area between the first route and the second route is divided into multiple areas, and every two adjacent GPS signal points in the first route correspond to one area; the area of ​​each area is determined, and based on the area of ​​each area and the distance between the adjacent GPS signal points corresponding to each area, the distance between each GPS signal point in the first route and the second route is determined.

[0045] In some embodiments, a first dividing line can be obtained by connecting the GPS signal point corresponding to the starting point of the first route with the GPS signal point corresponding to the starting point of the second route in a longitude and latitude coordinate system. Subsequently, a dividing line parallel to the first dividing line is constructed starting from each GPS signal point of the first route and extending toward the second route, thereby dividing the area between the first and second routes into multiple regions.

[0046] In some embodiments, the area between the first route and the second route can be divided into multiple areas by extending along the longitude direction (or latitude direction) from the GPS signal point of the first route to the second route in the longitude and latitude coordinate system. The longitude direction or latitude direction depends on the establishment method of the longitude and latitude coordinate system and the approximate direction of the first route and the second route. Figure 2 As shown, assuming Figure 2 The longitude and latitude coordinate system has longitude as the horizontal axis and latitude as the vertical axis, and the directions of the first route and the second route are roughly along the longitude direction, that is, the GPS signal point of the first route can be used as the starting point and extended to the second route along the latitude direction, and the area between the first route and the second route can be divided into multiple areas.

[0047] like Figure 2 As shown in the figure, since the GPS signal point collection interval is very short (for example, once per second), the GPS signal points on each historical driving route are relatively dense, that is, the segmented areas are sufficient. Even if there is a certain loss of GPS signal points on the first route, it will not have any impact on the overall accuracy. Therefore, in order to simplify the calculation, in some embodiments, the total area S between the first route and the second route can be calculated as shown in the following expression: polyfit The approximate area S of each region is obtained by dividing the quotient of the number of regions N by the number of regions. i :

[0048] S i =S polyfit / N

[0049] As above, due to the density of GPS signal points, the distance between two GPS signal points will not be too far, such as Figure 2 As shown in the figure, even if GPS signal point GPS1 is missing, the angular deviation between the missing GPS signal point GPS1 and the adjacent GPS2 is very small, and the impact on the accuracy of the subsequent calculation of the distance corresponding to each GPS signal point in the first route can be ignored. Therefore, to facilitate calculation, in some embodiments, each area can be approximately regarded as a rectangle, and the two adjacent GPS points in the first route are GPS1 and GPS2, and the area of ​​each area is S. i , the distance L corresponding to each GPS signal point can be calculated using the following expression: i :

[0050] L i =S i / (GPS1-GPS2)

[0051] Step S150: determining a corrected driving route based on the azimuth between each pair of GPS signal points and the distance between each GPS signal point in the first route and the second route.

[0052] In some embodiments, for each GPS signal point (GPS x ,GPS y ), the corresponding azimuth angle α and the corresponding distance L i Substitute into the formula shown below to calculate the corresponding correction point of the corrected driving route (GPS cx ,GPS cy ):

[0053] GPS cy =arcsin(sin(GPS y )*cos(L i / R)+cos(GPS y )*sin(L i / R)*cos(α))

[0054]

[0055] Here, R represents the radius of the Earth.

[0056] like Figure 2 As shown, the calculated correction points (GPS cx ,GPS cy ) is the corrected driving route.

[0057] The GPS signal correction method provided in an embodiment of the present application obtains historical driving routes of multiple vehicles, and determines the two historical routes that are farthest apart from each other among multiple historical driving routes located on the same road as a first route and a second route; determines the azimuth between each pair of GPS signal points in the first route and the second route, and determines a corrected driving route based on the azimuth between each pair of GPS signal points and the distance between each GPS signal point in the first route and the second route. This allows the azimuth and distance to be taken into account, corrects lost or offset GPS signal points, and improves the correction accuracy of GPS signal points.

[0058] In some embodiments, see Figure 4 After step S150, the GPS signal correction method may further include the following steps S160 and S170:

[0059] Step S160: Outputting the corrected driving route so that the corrected driving route can be visualized on a map.

[0060] Although road network data needs to be purchased, most maps themselves are free, so the corrected driving route can be directly visualized on the map so that users can clearly see whether the corrected driving route is within the road range (i.e., the range of vehicles on the road as mentioned above), thereby determining whether the corrected driving route meets the requirements.

[0061] Step S170: If a driving route selected by the user from the remaining driving routes is obtained, the driving route selected by the user and the corrected driving route are used as the first route and the second route, and the step of determining the azimuth between each pair of GPS signal points with a one-to-one correspondence in the first route and the second route is repeated until an end instruction input by the user is obtained, and the final corrected driving route is obtained, wherein the remaining driving route includes other routes in the multiple historical driving routes located on the same road except the first route and the second route.

[0062] In some embodiments, after visualizing the corrected driving route, if the user determines that the corrected driving route does not meet their needs, for example, if a portion of the corrected driving route is outside the road range, the user can enter a route selection command. In response to the route selection command, all remaining driving routes can be visualized on a map, allowing the user to select a driving route that is closest to the road range and located on both sides of the road as the corrected driving route. The remaining driving route selected by the user is the user-selected driving route. When the user-selected driving route is obtained, the user-selected driving route and the corrected driving route can be used as the first route and the second route, and steps S130-S150 can be re-executed to re-acquire the corrected driving route. In some embodiments, the corrected driving route and all historical driving routes corresponding to the road are visualized on a map, so that if the user determines that the corrected driving route does not meet their needs, they can select a driving route from the historical driving routes corresponding to the road that is closest to the road range and located on both sides of the road as the user-selected driving route.

[0063] In some embodiments, after visualizing the corrected driving route, if the user believes that the corrected driving route meets the requirements, the user can input an end instruction. In response to the end instruction, the corrected driving route can be directly saved and output to the relevant module, so that the relevant module performs corresponding operations based on the driving route.

[0064] Based on step S160 and step S170, through visual manual supervision correction, when the corrected driving route is still not accurate enough, continuous iteration can be performed to eventually obtain a corrected driving route within the road range, thereby improving the accuracy of the correction of GPS signal points.

[0065] In some embodiments, see Figure 5 After step S150, the GPS signal correction method may further include the following steps S180 to S1100:

[0066] Step S180: determining the area between the corrected driving route and each of the remaining driving routes, where the remaining driving routes include the other routes except the first route and the second route among the multiple historical driving routes on the same road.

[0067] It should be noted that visualizing the driving route on the map requires certain software module support. If the corresponding software support is not available, that is, if the driving route cannot be visualized on the map, steps S180 to S1100 of this embodiment may be executed by default. It should be noted that due to unknown road network data, steps S180 to S1100 provided in this embodiment can only ensure high accuracy when the majority of all historical driving routes are located within the road range.

[0068] In some embodiments, the area between each remaining route and the corrected route can be calculated by integrating the areas in the above embodiment. Since the first and second routes have already been calculated, they are excluded here to avoid repeated calculations.

[0069] Step S190: Determine the route with the median area between the remaining driving routes and the corrected driving route as the target route.

[0070] The areas between the remaining driving routes and the corrected driving routes may be sorted, and the remaining driving route corresponding to the median may be selected as the target route.

[0071] It is understandable that since this embodiment is based on a lack of visualization, once the corrected driving route is obtained, the direction and amount of the offset of the corrected driving route are unknown. Using the remaining driving routes corresponding to the median as a standard, the corrected driving route is cyclically corrected. Under the premise that "the majority of all historical driving routes are within the road range," a corrected driving route that meets the requirements can be obtained with a higher probability.

[0072] Step S1100: Calculate the distance between the corrected driving route and the target route; if the distance between the corrected driving route and the target route is greater than a distance threshold, use the target route and the corrected driving route as the first route and the second route, and repeat steps S130 to S150 and step S1100 until the distance between the corrected driving route and the target route is less than or equal to the distance threshold, and use the corrected driving route as the final corrected driving route.

[0073] A preset algorithm may be used to calculate the distance between the corrected driving route and the target route. When the distance between the corrected driving route and the target route is less than or equal to a distance threshold, it is determined that the corrected driving route meets the requirements, and the corrected driving route is output.

[0074] It should be noted that after the target route is selected for the first time, the target route will not be reselected in subsequent cycles, but the target route selected for the first time will be used. That is, step S180 and step S190 will not participate in the repeated loop execution.

[0075] Based on steps S180 to S1100, the corrected driving route can be cyclically corrected through non-visual median statistical correction. When visual supervision correction is not possible, the corrected driving route that is more likely to be within the road range can be obtained, thereby improving the accuracy of the correction of GPS signal points.

[0076] See also Figure 6 , Figure 6 The structural diagram of the GPS signal correction device 100 provided in an embodiment of the present application is shown. The GPS signal correction device 100 can be applied to vehicles. The GPS signal correction device 100 includes a historical route acquisition module 110, which is used to acquire the historical driving routes of multiple vehicles, wherein each vehicle has at least one historical driving route, and each historical driving route includes multiple GPS signal points; a target route acquisition module 120, which is used to determine the two historical driving routes that are farthest apart from each other as the first route and the second route among multiple historical driving routes located on the same road; an azimuth acquisition module 130, which is used to determine the azimuth between each pair of GPS signal points in the first route and the second route that have a one-to-one correspondence; a distance acquisition module 140, which is used to determine the distance between each GPS signal point in the first route and the second route; and a route correction module 150, which is used to determine the corrected driving route based on the azimuth between each pair of GPS signal points and the distance between each GPS signal point in the first route and the second route.

[0077] In some embodiments, the azimuth angle acquisition module 130 is further configured to determine an angle between a line connecting each pair of GPS signal points and the true north direction as the azimuth angle between each pair of GPS signal points.

[0078] In some embodiments, the distance acquisition module 140 is also used to determine the distance between adjacent GPS signal points in the first route to obtain multiple distances; divide the area between the first route and the second route into multiple areas based on the GPS signal points of the first route, and each two adjacent GPS signal points in the first route correspond to one area; determine the area of ​​each area, and determine the distance between each GPS signal point in the first route and the second route based on the area of ​​each area and the distance between the adjacent GPS signal points corresponding to each area.

[0079] In some embodiments, the azimuth acquisition module 130 is further used to, if the number of GPS signal points on the first route and the second route are different, interpolate the GPS signal points on the second route according to the GPS signal points on the first route to obtain the interpolated second route, wherein the number of GPS signal points on the interpolated second route is the same as the number of GPS signal points on the first route, and the first route has more GPS signal points than the second route; determine the azimuth between each pair of GPS signal points in a one-to-one correspondence between the first route and the interpolated second route, and obtain the azimuth corresponding to each GPS signal point in the first route.

[0080] In some embodiments, the GPS signal correction device 100 also includes a visualization correction module for outputting the corrected driving route so that the corrected driving route can be visualized on a map; if a driving route selected by the user from the remaining driving routes is obtained, the driving route selected by the user and the corrected driving route are used as the first route and the second route, and the step of determining the azimuth between each pair of GPS signal points with a one-to-one correspondence in the first route and the second route is repeated until an end instruction input by the user is obtained, and the final corrected driving route is obtained, wherein the remaining driving route includes other routes other than the first route and the second route in multiple historical driving routes located on the same road.

[0081] In some embodiments, the GPS signal correction device 100 also includes a non-visual correction module for respectively determining the area between the corrected driving route and each route in the remaining driving routes, where the remaining driving routes include other routes except the first route and the second route in multiple historical driving routes located on the same road; determining the route with the median area between the corrected driving route and the remaining driving routes as the target route; calculating the distance between the corrected driving route and the target route; if the distance between the corrected driving route and the target route is greater than a distance threshold, taking the target route and the corrected driving route as the first route and the second route, and repeating the step of determining the azimuth between each pair of GPS signal points in the first route and the second route that have a one-to-one correspondence until the distance between the corrected driving route and the target route is less than or equal to the distance threshold, and taking the corrected driving route as the final corrected driving route.

[0082] In some embodiments, the GPS signal correction device 100 also includes a clustering module for clustering the starting points of the historical driving routes of multiple vehicles to form multiple starting point clusters; clustering the end points of the historical driving routes of multiple vehicles to form multiple end point clusters; and determining the driving routes in the historical driving routes of multiple vehicles whose starting points belong to the same starting point cluster and whose end points belong to the same end point cluster as multiple historical driving routes located on the same road.

[0083] In some embodiments, the clustering module is further used to determine the driving routes in the historical driving routes of multiple vehicles whose starting points belong to the same starting point cluster and whose end points belong to the same end point cluster as filtered driving routes; respectively calculate the distance between each two filtered driving routes belonging to different vehicles or different days in the filtered driving routes; and determine the driving routes in the filtered driving routes whose distance is less than a preset distance as multiple historical driving routes located on the same road.

[0084] Those skilled in the art will clearly understand that the GPS signal correction device 100 provided in the embodiment of the present application can implement the GPS signal correction method provided in the embodiment of the present application. The specific working process of the above modules can refer to the corresponding process of the GPS signal correction method in the embodiment of the present application, and will not be described here.

[0085] In the embodiments provided in the present application, the coupling, direct coupling or communication connection between the modules shown or discussed may be indirect coupling or communication coupling through some interfaces, devices or modules, and may be electrical, mechanical or other forms, and the embodiments of the present application do not limit this.

[0086] In addition, the functional modules in the embodiments of the present application may be integrated into a single processing module, each module may exist physically separately, or two or more modules may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or software functional modules, which is not limited in the embodiments of the present application.

[0087] See also Figure 7 , Figure 7 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application is shown. The vehicle 200 includes a memory 210, one or more processors 220, and one or more applications. The one or more applications are stored in the memory and are used to execute the method described in the above method embodiment when called by the one or more processors 220.

[0088] The memory 210 may include random access memory (RAM) or read-only memory (ROM). The memory 210 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 210 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function, instructions for implementing the various method embodiments described above, and the like. The data storage area may store data generated by the vehicle 200 during use.

[0089] The processor 220 may include one or more processing cores. The processor 220 uses various interfaces and lines to connect the various parts of the entire extended reality device 200, and performs various functions and processes data of the user interface rendering device by running or executing instructions, programs, code sets or instruction sets stored in the memory 210, and calling data stored in the memory 210. The processor 220 can be implemented in at least one hardware form of digital signal processing (DSP), field programmable gate array (FPGA), and programmable logic array (PLA). The processor 220 can integrate one or more combinations of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. It is understandable that the above-mentioned modem may not be integrated into the processor 220, but may be implemented separately through a communication chip.

[0090] An embodiment of the present application also provides a computer-readable storage medium, in which program code is stored. The program code is used to execute the method described in the above method embodiment when called by a processor.

[0091] The computer readable storage medium can be an electronic memory such as a flash memory, an electrically erasable programmable read only memory (EEPROM), an electrically programmable read only memory (EPROM), a hard disk or a read only memory (ROM). In some embodiments, the computer readable storage medium can include a non-transitory computer-readable storage medium (NTRSM). The computer readable storage medium has storage space for the program code of any method step in the above method. These program codes can be read from one or more computer program products or written into one or more computer program products. The program code can be compressed in an appropriate form.

[0092] The above is only a preferred embodiment of the present application and does not constitute any form of limitation to the present application. Although the present application has been disclosed as above with preferred embodiments, it is not intended to limit the present application. Any person skilled in the art can make some changes or modifications to equivalent embodiments using the technical contents disclosed above without departing from the scope of the technical solution of the present application. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A GPS signal correction method, characterized in that: The method comprises: Obtaining historical driving routes of multiple vehicles, wherein each vehicle has at least one historical driving route, and each historical driving route includes multiple GPS signal points; Among a plurality of historical driving routes on the same road, two historical driving routes that are farthest apart are determined as a first route and a second route; Determine the azimuth between each pair of GPS signal points in a one-to-one correspondence in the first route and the second route; Determining the distance between each GPS signal point in the first route and the second route; A corrected driving route is determined based on the azimuth between each pair of GPS signal points and the distance between each GPS signal point in the first route and the second route.

2. The method according to claim 1, characterized in that The determining of the azimuth between each pair of GPS signal points having a one-to-one correspondence in the first route and the second route includes: The angle between the line connecting each pair of GPS signal points and the true north direction is determined as the azimuth between each pair of GPS signal points.

3. The method according to claim 1, characterized in that Determining the distance between each GPS signal point in the first route and the second route includes: Determine distances between adjacent GPS signal points in the first route to obtain a plurality of distances; Divide the area between the first route and the second route into a plurality of areas according to the GPS signal points of the first route, where every two adjacent GPS signal points in the first route correspond to one area; The area of ​​each region is determined, and the distance between each GPS signal point in the first route and the second route is determined based on the area of ​​each region and the distance between adjacent GPS signal points corresponding to each region.

4. The method according to claim 1, wherein The step of determining the azimuth between each pair of GPS signal points in a one-to-one correspondence between the first route and the second route further comprises: If the number of GPS signal points on the first route and the second route is different, interpolating the GPS signal points on the second route based on the GPS signal points on the first route to obtain a second route after interpolation, wherein the number of GPS signal points on the second route after interpolation is the same as the number of GPS signal points on the first route, and the first route has a greater number of GPS signal points than the second route; The azimuth between each pair of GPS signal points having a one-to-one correspondence in the first route and the second route after interpolation is determined.

5. The method according to claim 1, wherein After the step of determining a corrected driving route based on the azimuth between each pair of GPS signal points and the distance between each GPS signal point in the first route and the second route, the method further includes: outputting the corrected driving route so that the corrected driving route can be visualized on a map; If a driving route selected by the user from the remaining driving routes is obtained, the driving route selected by the user and the corrected driving route are used as the first route and the second route, and the step of determining the azimuth between each pair of GPS signal points having a one-to-one correspondence in the first route and the second route is repeated until an end instruction input by the user is obtained, thereby obtaining the final corrected driving route, wherein the remaining driving routes include other routes other than the first route and the second route among the multiple historical driving routes located on the same road.

6. The method according to claim 1, characterized in that After the step of determining a corrected driving route based on the azimuth between each pair of GPS signal points and the distance between each GPS signal point in the first route and the second route, the method further includes: determining an area between the corrected driving route and each of the remaining driving routes, the remaining driving routes including routes other than the first route and the second route among a plurality of historical driving routes on the same road; Determine the route with the median area between the remaining driving routes and the corrected driving route as the target route; Calculating the distance between the corrected driving route and the target route; If the distance between the corrected driving route and the target route is greater than the distance threshold, the target route and the corrected driving route are used as the first route and the second route, and the step of determining the azimuth between each pair of GPS signal points with a one-to-one correspondence in the first route and the second route is repeated until the distance between the corrected driving route and the target route is less than or equal to the distance threshold, and the corrected driving route is used as the final corrected driving route.

7. The method according to claim 1, characterized in that Before the step of determining, among the plurality of historical driving routes located on the same road, two historical driving routes that are farthest apart from each other as the first route and the second route, the method further includes: Clustering the starting points of the historical driving routes of multiple vehicles to form multiple starting point clusters; clustering the end points of the historical driving routes of multiple vehicles to form multiple end point clusters; The driving routes of the multiple vehicles whose starting points belong to the same starting point cluster and whose ending points belong to the same ending point cluster are determined as multiple historical driving routes located on the same road.

8. The method according to claim 7, characterized in that The step of determining the driving routes of the multiple vehicles whose starting points belong to the same starting point cluster and whose end points belong to the same end point cluster as the multiple historical driving routes located on the same road includes: Determine the travel routes whose starting points belong to the same starting point cluster and whose ending points belong to the same ending point cluster among the historical travel routes of multiple vehicles as the screening travel routes; Calculate the distance between every two filtered travel routes that belong to different vehicles or different days; The driving routes with a spacing smaller than a preset spacing among the filtered driving routes are determined to be multiple historical driving routes located on the same road.

9. A GPS signal correction device, characterized in that: The method comprises a functional module for implementing the method according to any one of claims 1 to 8.

10. A vehicle, characterized in that: include: Memory; one or more processors; One or more application programs are stored in the memory and are configured to execute the method according to any one of claims 1 to 8 when called by the one or more processors.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program code, and the program code is used to execute the method according to any one of claims 1 to 8 when called by a processor.

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