Matching method, system and vehicle based on high-precision map and navigation map

Abstract

A matching method, system and car based on high-precision map and navigation map, the matching method includes obtaining guidance information, navigation starting point and navigation end point from the navigation map; matching the high-precision map based on the navigation starting point and the navigation end point to obtain high-precision starting point information, lane topology relationship and high-precision end point information; retrieving based on the lane topology relationship and the high-precision starting point information to obtain first intersection information; matching the first intersection information with the guidance information to obtain new high-precision starting point information; retrieving new first intersection information based on the lane topology relationship and the new high-precision starting point information until the navigation path matching is completed. The present invention solves the problem that the high-precision map and the navigation map must be homologous data, the matching of the navigation paths of the high-precision map and the navigation map takes a long time, and the high freshness requirements of the high-precision map and the navigation map are high.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent driving technology, and specifically relates to a matching method, system and automobile based on a high-precision map and a navigation map. Background Art

[0002] The existing path matching algorithm for high-precision maps and navigation maps mainly relies on matching navigation path line points and road IDs, and then supplemented by conditions such as road names and road grades, to finally complete the matching of navigation paths between high-precision maps and navigation maps. However, this approach in the prior art will result in the following problems: in the matching of navigation path line points, the path matching time is relatively long, the algorithm complexity involved in line point matching is relatively high, and the system memory and computing power requirements are high; and due to the difference in line points between high-precision maps and navigation maps, the probability of matching failure is relatively high.

[0003] In the matching of road IDs, high requirements are placed on navigation maps and high-precision maps. These include that high-precision maps and navigation maps must be of the same source data, and that high-precision map production must be based on navigation maps, which increases map costs. In addition, high-precision maps and navigation maps must be updated at the same time with the same update frequency, placing high requirements on freshness. Summary of the invention

[0004] In view of the shortcomings of the prior art mentioned above, the purpose of the present invention is to provide a matching method, system and automobile based on high-precision maps and navigation maps, which solves the problems that high-precision maps and navigation maps must be homologous data, matching of navigation paths of high-precision maps and navigation maps takes a long time, and high requirements for the freshness of high-precision maps and navigation maps.

[0005] To achieve the above purpose, the present invention adopts the following technical solution.

[0006] A first aspect of the present invention provides a matching method based on a high-precision map and a navigation map, comprising:

[0007] Obtain guidance information, navigation starting point and navigation end point from the navigation map;

[0008] Based on the matching of the navigation starting point and the navigation end point with a high-precision map, high-precision starting point information, lane topology relationship and high-precision end point information are obtained;

[0009] Based on the lane topological relationship and the high-precision starting point information, obtain the first intersection information;

[0010] Matching the first intersection information with the guidance information to obtain new high-precision starting point information;

[0011] New first intersection information is retrieved based on the lane topology relationship and the new high-precision starting point information until the navigation path matching is completed.

[0012] As an implementation manner of the present invention, matching the first intersection information with the guidance information to obtain new high-precision starting point information further includes:

[0013] If the guidance information does not include guidance information corresponding to the first intersection, information of the next intersection in the straight direction of the first intersection is used as new first intersection information.

[0014] As an implementation manner of the present invention, before matching the high-precision map based on the navigation starting point and the navigation end point, the high-precision map is configured with road traffic information within a preset historical time.

[0015] As an implementation mode of the present invention, the high-precision starting point information includes starting point road information, starting point lane information and starting point travel direction;

[0016] The high-precision destination information includes destination road information, destination lane information and destination travel direction;

[0017] The starting point road information, the starting point lane information and the starting point travel direction are obtained based on the coordinates of the navigation starting point; and the end point road information, the end point lane information and the end point travel direction are obtained based on the coordinates of the navigation end point.

[0018] As an implementation manner of the present invention, the guidance information includes an intersection guidance direction and an intersection guidance distance, and the intersection guidance distance represents the distance from the guidance point to the vehicle in the navigation map.

[0019] As an implementation manner of the present invention, the obtaining of the first intersection information based on the lane topology relationship and the high-precision starting point information retrieval includes:

[0020] The navigation starting point is used as the search starting point, and the forward search is performed based on the travel direction of the starting point and the lane topological relationship. The vehicle stops at the first intersection and obtains the first intersection information, wherein the first intersection information includes the travel direction at the first intersection and the angle between the inlet and outlet roads at the first intersection.

[0021] As an implementation manner of the present invention, matching the first intersection information with the guidance information to obtain new high-precision starting point information includes:

[0022] Based on the travel direction at the first intersection and the angle between the inbound and outbound roads at the first intersection, a relative direction and the length of the vehicle along the road are obtained;

[0023] The intersection induction direction is matched based on the relative direction, and the intersection induction distance is matched based on the length of the vehicle along the road, so as to obtain new high-precision starting point information.

[0024] As an implementation mode of the present invention, matching the intersection induction distance based on the length of the vehicle along the road includes:

[0025] The difference between the vehicle's road length and the intersection induced distance is within a preset distance threshold, and the matching is completed.

[0026] As an implementation manner of the present invention, the retrieving new first intersection information based on the lane topology relationship and the new high-precision starting point information until the navigation path matching is completed includes:

[0027] When the navigation destination is retrieved, the navigation path matching is completed; or

[0028] When the matching is completed within the range covered by the high-precision map, the navigation path matching is still completed even if the navigation end point is not reached.

[0029] A second aspect of the present invention provides a matching system based on a high-precision map and a navigation map, comprising:

[0030] A navigation acquisition module, at least used to acquire guidance information, a navigation starting point and a navigation end point from a navigation map, wherein the guidance information includes a induced direction of an intersection and an induced distance of an intersection;

[0031] A high-precision matching module, at least used to match a high-precision map based on the navigation starting point and the navigation end point, and obtain high-precision starting point information, lane topology relationship and high-precision end point information;

[0032] A retrieval module is at least used to retrieve the first intersection information based on the lane topology relationship and the high-precision starting point information; a matching module is at least used to match the first intersection information with the guidance information to obtain new high-precision starting point information; an ending module is at least used to retrieve new first intersection information based on the lane topology relationship and the new high-precision starting point information until the navigation path matching is completed.

[0033] As an embodiment of the present invention, a non-matching module is further included, which is at least used to use the information of the next intersection in the straight direction of the first intersection as new first intersection information if the guidance information does not include the guidance information corresponding to the first intersection.

[0034] A third aspect of the present invention provides a car, which is provided with a smart cockpit and an intelligent driving module, the smart cockpit content is provided with a navigation map, and the intelligent driving module content is provided with a high-precision map, the smart cockpit and the intelligent driving module cooperate to implement the steps of the matching method based on the high-precision map and the navigation map as described in the first aspect of the present invention.

[0035] According to a fourth aspect of the present invention, a readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the steps of the matching method based on a high-precision map and a navigation map as described in the first aspect of the present invention are implemented.

[0036] In summary, compared with the prior art, the present invention includes at least one of the following beneficial technical effects:

[0037] 1. The present invention changes the existing method of matching the entire navigation path by segmented matching, thereby reducing the requirements for computing power, running memory, etc. during path matching. In addition, this method can avoid the necessary requirements for homologous matching and improve the adaptability of matching.

[0038] 2. The present invention takes into account the actual map period. By retaining the road traffic information within a preset time, it can trace back and perform forward matching to ensure successful matching, thereby avoiding the problem in the prior art that high-precision maps and navigation maps must be updated at the same time and at the same update frequency. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. 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.

[0040] Figure 1 It is a flowchart of a matching method based on a high-precision map and a navigation map according to a specific embodiment of the present invention.

[0041] Figure 2 It is a flowchart of a matching method based on a high-precision map and a navigation map according to another specific embodiment of the present invention.

[0042] Figure 3 It is a module composition diagram of a matching system based on a high-precision map and a navigation map according to a specific embodiment of the present invention.

[0043] Figure 4 It is a working diagram of a matching system based on a high-precision map and a navigation map according to a specific embodiment of the present invention. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application. In addition, it should be understood that the specific implementation methods described herein are only used to illustrate and explain the present application, and are not used to limit the present application.

[0045] It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments of the present application. In addition, in the following embodiments, the description of each embodiment has its own emphasis, and for parts not described in detail in one embodiment, reference can be made to the relevant description of other embodiments.

[0046] Compared with navigation maps, high-precision maps are used for navigation and search, including input and interaction of user input of destinations, while high-precision maps are used for high-precision positioning, auxiliary environmental perception, planning and decision-making. Navigation maps only contain simple road lines, information points (POIs), and administrative division boundaries, while high-precision maps contain detailed road models, including lane models, road components, road attributes, and other positioning layers. The acquisition methods of high-precision maps include at least high-precision surveying and crowdsourcing mapping, and this application is not limited to the types of high-precision maps.

[0047] like Figure 1 and Figure 2 As shown, the first aspect of the present invention provides a matching method based on a high-precision map and a navigation map, which mainly includes the following steps.

[0048] Step S1: Obtaining guidance information, a navigation start point, and a navigation end point from a navigation map;

[0049] Specifically, the navigation map in the car is set in the car's smart cockpit. When the user sets the destination, the navigation map will generate guidance information of the navigation starting point, navigation end point, navigation path and all intersections on the navigation path based on the user's operation, wherein the navigation starting point and navigation end point can be expressed in the form of coordinates; the guidance information includes the intersection guidance direction and the intersection guidance distance; the intersection guidance direction indicates the direction the car needs to go when it reaches the next intersection; the intersection guidance distance indicates the distance from the guidance point to the car in the navigation map.

[0050] Step S2: matching a high-precision map based on the navigation starting point and the navigation end point to obtain high-precision starting point information, lane topology relationship and high-precision end point information;

[0051] Specifically, navigation Figure 1Generally, it can only provide road information for the driver with an accuracy at the meter level, generally about 5 meters, while the accuracy of the high-precision map ranges from 0.05 to 0.20m, which directly serves the intelligent driving decision controller of the intelligent driving module; by using the navigation starting point to match the high-precision map, the starting road information, starting lane information and starting direction of travel can be obtained; by using the navigation end point to match the high-precision map, the end road information, end lane information and end direction of travel can be obtained. In addition, the lane topology relationship can also be obtained through the navigation end point and the navigation starting point. The lane topology relationship is also called the lane topology link relationship, which can obtain the connection between the previous lane and the next lane.

[0052] Step S3: obtaining first intersection information based on the lane topology relationship and the high-precision starting point information retrieval;

[0053] Specifically, the road information and lane information are retrieved forward through the lane topological relationship and the starting point traffic information in the high-precision starting point information. The search is stopped when the first intersection is reached to obtain the first intersection information. Combined with the input of the navigation map and the high-precision map's own perception and acquisition capabilities for data elements, the first intersection information and other information such as the traffic direction at the first intersection and the angle between the entrance and exit roads at the first intersection can be obtained.

[0054] Step S4: matching the first intersection information with the guidance information to obtain new high-precision starting point information;

[0055] Specifically, since the first intersection information represents the corresponding attribute information of the guidance information obtained by the navigation map, when the first intersection information and the guidance information are matched, it means that the navigation path from the navigation starting point to the first intersection, referred to as the first navigation path, has been matched.

[0056] Step S5: retrieving new first intersection information based on the lane topology relationship and the new high-precision starting point information until the navigation path matching is completed;

[0057] Specifically, after completing the matching of the first navigation path, continue to search for road information and lane information according to the lane topology and the new high-precision starting point information. Stop searching when reaching the new first intersection and obtain the new first intersection information until the search is completed to complete the matching of the navigation path.

[0058] Here, the present invention changes the existing technology of navigation matching through the entire navigation path by matching the path in segments, thereby reducing the computing power requirements for path matching. In this way, the necessary requirements for achieving homologous matching can be avoided, and the adaptability of matching is also improved.

[0059] In one embodiment of the present invention, matching the first intersection information with the guidance information to obtain new high-precision starting point information further includes:

[0060] If the guidance information does not include guidance information corresponding to the first intersection, information of the next intersection in the straight direction of the first intersection is used as new first intersection information.

[0061] In one application scenario, the intersection guidance direction in the guidance information will specifically indicate whether it is necessary to turn left or right at the next intersection. Generally speaking, the navigation does not send the guidance information for going straight to the high-precision map when going straight. Based on this, if there is no guidance information, it means that the first intersection information and the guidance information cannot match, which means that the current first intersection needs to go straight. The information of the next intersection in the straight direction of the first intersection is used as the new first intersection information, that is, go straight directly to the next intersection and regenerate new high-precision starting point information, and repeat step S3.

[0062] In this way, the possible scenarios of the actual path matching scenario are improved. When the first intersection information and the guidance information are matched, the turning information is determined. When the first intersection information and the guidance information do not match, the straight information is determined, making the matching method of the present invention simpler.

[0063] In the present invention, in addition to requiring the navigation map to provide guidance information of all intersections on the navigation path for input into the high-precision map, it is also necessary that the high-precision map be configured with road traffic information within a preset historical time before matching the high-precision map based on the navigation starting point and the navigation end point.

[0064] Taking the actual map period into consideration, for example, the preset historical time can be set to 1 year, that is, the high-precision map needs to record the road traffic information of the intersection within 1 year to ensure that the correct matching result is obtained when the freshness of the high-precision map and the navigation map is inconsistent.

[0065] Traditional navigation maps are updated about half a year. The actual driving environment may change due to factors such as road construction. Changes in road construction at the intersection may affect the matching result between the first intersection information and the induction information. By retaining the road traffic information within a preset time, the source can be traced back and forward matching can be performed to ensure a successful match.

[0066] This method can avoid the problem in the prior art that high-precision maps and navigation maps must be updated at the same time and at the same update frequency.

[0067] The traffic direction information of the high-precision map refers to the traffic information of the lane. Normally, a lane has only one lane direction, but for some special lanes, it is also possible to go both forward and backward.

[0068] Regarding the lane topology relationship, according to the input of the navigation map, the lane topology relationship represents the topological link relationship between lane levels. From the driving point of view, you can drive from lane A to lane B, and there is a topological link relationship between lane A and lane B. However, if you need to pass lane B to go to lane C from lane A, then there is no topological link relationship between lane A and lane C.

[0069] Specifically, the high-precision starting point information includes starting point road information, starting point lane information and starting point travel direction;

[0070] The high-precision destination information includes destination road information, destination lane information and destination travel direction;

[0071] The starting point road information, the starting point lane information and the starting point travel direction are obtained based on the coordinates of the navigation starting point; the ending point road information, the ending point lane information and the ending point travel direction are obtained based on the coordinates of the navigation ending point. The guidance information includes the intersection guidance direction and the intersection guidance distance, and the intersection guidance distance represents the distance from the guidance point to the vehicle in the navigation map.

[0072] In one embodiment of the present application, the first intersection information is obtained based on the lane topology relationship and the high-precision starting point information retrieval, including:

[0073] The navigation starting point is used as the search starting point, and the forward search is performed based on the travel direction of the starting point and the lane topological relationship. The vehicle stops at the first intersection and obtains the first intersection information, wherein the first intersection information includes the travel direction at the first intersection and the angle between the inlet and outlet roads at the first intersection.

[0074] In one embodiment of the present application, matching the first intersection information with the guidance information to obtain new high-precision starting point information includes:

[0075] Based on the travel direction at the first intersection and the angle between the inbound and outbound roads at the first intersection, a relative direction and the length of the vehicle along the road are obtained;

[0076] The intersection induction direction is matched based on the relative direction, and the intersection induction distance is matched based on the length of the vehicle along the road, so as to obtain new high-precision starting point information.

[0077] In a specific scenario, the user's car is facing south, the left hand side is facing east, and the car is going straight south. High-precision maps can calculate the angle based on the road points to figure out which is a left turn, which is a right turn, and other specific relative directions and the length of the car along the road to match the intersection guidance direction and intersection guidance distance in the guidance information.

[0078] In one application scenario, the matching of the intersection induced distance based on the length of the vehicle along the road includes: the difference between the length of the vehicle along the road and the intersection induced distance needs to be within a preset distance threshold, and the preset distance threshold can be set to 50m. It should be noted that the specific value of the preset distance threshold may need to be adjusted based on actual testing and user feedback to balance the accuracy of matching and the robustness of the navigation system.

[0079] In one embodiment of the present application, the retrieving new first intersection information based on the lane topology relationship and the new high-precision starting point information until the navigation end point is reached or the latest high-precision starting point information is consistent with the high-precision end point information includes:

[0080] When the navigation destination is retrieved, the navigation path matching is completed; or

[0081] When the search satisfies that the starting point road information, the starting point lane information and the starting point travel direction and the ending point road information, the ending point lane information and the ending point travel direction correspond to and are consistent with each other, the navigation path matching is completed.

[0082] Specifically, the high-precision map may cover a very long highway. The end point of navigation refers to the destination set by the user. The high-precision end point information indicates the range covered by the high-precision map. If the high-precision map collects five kilometers, and the navigation destination is at the second kilometer, the retrieval ends when the navigation destination is reached, and the path matching is completed. In one scenario, if the high-precision map also collects five kilometers, and the navigation destination is at the seventh kilometer, which has exceeded the range of the high-precision map, the navigation matching path of the present invention will end within the range covered by the navigation map.

[0083] like Figure 3 As shown, the second aspect of the present application provides a matching system based on a high-precision map and a navigation map, including: a navigation acquisition module, at least for acquiring guidance information, a navigation starting point and a navigation end point from the navigation map, wherein the guidance information includes a road intersection guidance direction and a road intersection guidance distance;

[0084] A high-precision matching module, at least used to match a high-precision map based on the navigation starting point and the navigation end point, and obtain high-precision starting point information, lane topology relationship and high-precision end point information;

[0085] A retrieval module is at least used to retrieve the first intersection information based on the lane topology relationship and the high-precision starting point information; a matching module is at least used to match the first intersection information with the guidance information to obtain new high-precision starting point information; an ending module is at least used to retrieve new first intersection information based on the lane topology relationship and the new high-precision starting point information until the navigation path matching is completed.

[0086] In one embodiment of the present invention, a non-matching module is further included, and the non-matching module is at least used to use the information of the next intersection in the straight direction of the first intersection as new first intersection information if the guidance information does not include the guidance information corresponding to the first intersection.

[0087] In one application scenario, the intersection guidance direction in the guidance information will specifically indicate whether you need to turn left or right at the intersection. Generally speaking, the navigation does not send straight guidance information to the high-precision map when going straight. Based on this, if there is no guidance information, it means that the first intersection information cannot be matched with the guidance information, which means that the current first intersection needs to go straight. The information of the next intersection in the straight direction of the first intersection is used as the new first intersection information, that is, go straight directly to the next intersection and regenerate new high-precision starting point information, and the matching module continues to work.

[0088] The present invention changes the existing method of matching the entire navigation path by segmented matching, thereby reducing the requirements for computing power, running memory, etc. during path matching. In addition, this method can avoid the necessary requirements for achieving homologous matching and improve the adaptability of matching.

[0089] like Figure 4 As shown, the third aspect of the present application provides a car, on which a smart cockpit and an intelligent driving module are provided in the vehicle system, wherein the smart cockpit content is provided with a navigation map, and the intelligent driving module content is provided with a high-precision map, and the smart cockpit and the intelligent driving module cooperate to implement the steps of the matching method based on the high-precision map and the navigation map as described in any of the above embodiments.

[0090] Specifically, the navigation map can be specifically set in the in-vehicle infotainment system in the smart cockpit. Compared with the navigation map, the high-precision map is used for navigation and search, including the input and interaction of user input of destination and other behaviors. The high-precision map is used for high-precision positioning, auxiliary environmental perception, planning and decision-making. The navigation map only contains simple road lines, information points (POI), and administrative division boundaries, while the high-precision map contains a detailed road model, including lane models, road components, road attributes and other positioning layers. The acquisition method of the high-precision map includes at least high-precision surveying and crowdsourcing mapping, and the present application is not limited to the type of high-precision map.

[0091] In one application scenario, the user starts navigation by setting the destination on the navigation map module of the smart cockpit. The navigation map module will send the intersection guidance information, the guidance information to the vehicle distance, and other navigation information such as the navigation end coordinates and the navigation starting point coordinates to the high-precision map of the intelligent driving module. Since the high-precision map is loaded before running, when the high-precision map obtains the relevant navigation information and the lane starting point, lane end point, road information, lane topology relationship and other information obtained based on the navigation information, it will match them to obtain the navigation path matching result for the user's navigation and other needs.

[0092] The present invention solves the problems that the high-precision map and the navigation map must be homologous data, the matching of the navigation paths of the high-precision map and the navigation map takes a long time, and the freshness requirements of the high-precision map and the navigation map are high. It can avoid the necessary requirements for achieving homologous matching, and also improve the adaptability of matching, which is beneficial to improving the user's driving experience.

[0093] In a fourth aspect, the present invention provides a readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the matching method based on a high-precision map and a navigation map as described in any one of the above embodiments of the present invention. The computer-readable storage medium may include: any entity or device capable of carrying a computer program, a recording medium, a U disk, a mobile hard disk, a disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), and a software distribution medium, etc. The computer program includes a computer program code. The computer program code may be in source code form, object code form, an executable file, or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying a computer program code, a recording medium, a U disk, a mobile hard disk, a disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), and a software distribution medium, etc.

[0094] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0095] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, apparatus or device (such as a computer-based system, a system including a processing module, or other system that can fetch instructions from an instruction execution system, apparatus or device and execute instructions), or used in combination with these instruction execution systems, apparatuses or devices.

[0096] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A matching method based on a high-precision map and a navigation map, characterized in that: include: Obtaining guidance information, a navigation starting point, and a navigation end point from a navigation map, wherein the guidance information includes a road intersection guidance direction and a road intersection guidance distance; Based on the matching of the navigation starting point and the navigation end point with a high-precision map, high-precision starting point information, lane topology relationship and high-precision end point information are obtained; Based on the lane topological relationship and the high-precision starting point information, obtain the first intersection information; Matching the first intersection information with the guidance information to obtain new high-precision starting point information; Retrieving new first intersection information based on the lane topology relationship and the new high-precision starting point information until the navigation path matching is completed; wherein: The matching of the first intersection information with the guidance information to obtain new high-precision starting point information further includes: if the guidance information does not include guidance information corresponding to the first intersection, using information of the next intersection in the straight direction of the first intersection as new first intersection information; The matching of the first intersection information with the guidance information to obtain new high-precision starting point information includes: Based on the travel direction at the first intersection and the angle between the inbound and outbound roads at the first intersection, a relative travel direction and the length of the vehicle along the road are obtained; The intersection induction direction is matched based on the relative travel direction, and the intersection induction distance is matched based on the length of the vehicle along the road, so as to obtain new high-precision starting point information.

2. The matching method based on high-precision map and navigation map according to claim 1 is characterized in that: Before matching the high-precision map based on the navigation starting point and the navigation end point, the high-precision map is configured with road traffic information within a preset historical time.

3. The matching method based on high-precision map and navigation map according to claim 1 is characterized in that: The high-precision starting point information includes starting point road information, starting point lane information and starting point travel direction; The high-precision destination information includes destination road information, destination lane information and destination travel direction; Acquire the starting point road information, the starting point lane information and the starting point travel direction based on the coordinates of the navigation starting point; The destination road information, the destination lane information and the destination travel direction are acquired based on the coordinates of the navigation destination.

4. The matching method based on high-precision map and navigation map according to claim 3 is characterized in that: The intersection guidance distance represents the distance from the guidance point to the vehicle in the navigation map.

5. The matching method based on high-precision map and navigation map according to claim 4 is characterized in that: The obtaining of the first intersection information based on the lane topology relationship and the high-precision starting point information retrieval includes: The navigation starting point is used as the search starting point, and the forward search is performed based on the travel direction of the starting point and the lane topological relationship. The vehicle stops at the first intersection and obtains the first intersection information, wherein the first intersection information includes the travel direction at the first intersection and the angle between the inlet and outlet roads at the first intersection.

6. The matching method based on high-precision map and navigation map according to claim 1 is characterized in that: The matching of the intersection induced distance based on the length of the vehicle along the road includes: The difference between the vehicle's road length and the intersection induced distance is within a preset distance threshold, and the matching is completed.

7. The matching method based on high-precision map and navigation map according to claim 1 is characterized in that: The retrieving new first intersection information based on the lane topology relationship and the new high-precision starting point information until the navigation path matching is completed includes: When the navigation destination is retrieved, the navigation path matching is completed; or When the matching is completed within the range covered by the high-precision map, the navigation path matching is still completed even if the navigation end point is not reached.

8. A matching system based on high-precision maps and navigation maps, characterized in that: include: A navigation acquisition module, at least used to acquire guidance information, a navigation starting point and a navigation end point from a navigation map, wherein the guidance information includes a induced direction of an intersection and an induced distance of an intersection, and the guidance information includes an induced direction of an intersection and an induced distance of an intersection; A high-precision matching module, at least used to match a high-precision map based on the navigation starting point and the navigation end point, and obtain high-precision starting point information, lane topology relationship and high-precision end point information; A retrieval module, at least used to retrieve the first intersection information based on the lane topology relationship and the high-precision starting point information; A matching module, at least used to match the first intersection information with the guidance information to obtain new high-precision starting point information; an end module, at least used to retrieve new first intersection information based on the lane topology relationship and the new high-precision starting point information, until the navigation path matching is completed; The non-matching module is at least used to use the information of the next intersection in the straight direction of the first intersection as new first intersection information if the guidance information does not include the guidance information corresponding to the first intersection; wherein: The matching of the first intersection information with the guidance information to obtain new high-precision starting point information includes: Based on the travel direction at the first intersection and the angle between the inbound and outbound roads at the first intersection, a relative travel direction and the length of the vehicle along the road are obtained; The intersection induction direction is matched based on the relative travel direction, and the intersection induction distance is matched based on the length of the vehicle along the road, so as to obtain new high-precision starting point information.

9. A car, equipped with a smart cockpit and a smart driving module, wherein the smart cockpit has a navigation map, and the smart driving module has a high-precision map, characterized in that: The smart cockpit and the intelligent driving module work together to implement the steps of the matching method based on high-precision map and navigation map as described in any one of claims 1-7.

10. A readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the matching method based on a high-precision map and a navigation map as described in any one of claims 1 to 7 are implemented.

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