Vehicle Information Correction Method and Device

Abstract

This specification provides a method and device for correcting vehicle information. The vehicle information correction method includes: obtaining reference information of a target vehicle and target vehicle information of the target vehicle at a target moment, where the target vehicle is a guided train; determining guiding line deviation information of the target vehicle based on the reference information and the target vehicle information, and determining target instantaneous change information of the target vehicle at the target moment based on the guiding line deviation information; in the case that it is determined that the target vehicle has a multipath effect based on the target instantaneous change information and an instantaneous change amount interval, selecting an auxiliary vehicle that does not have a multipath effect in the vehicle formation where the target vehicle is located; correcting the target vehicle information based on the auxiliary vehicle information of the auxiliary vehicle. This solves the problem that the reported target vehicle information is inaccurate due to the influence of the multipath effect on the target vehicle information reported by the target vehicle.

Description

Technical Field

[0001] This specification relates to the field of computer technology, and particularly to a method and device for correcting vehicle information. Background Art

[0002] During vehicle driving, the vehicle positioning method generally uses the Global Positioning System (GPS) signal. However, when the receiver on the vehicle-mounted terminal receives the satellite positioning signal, there are positioning signals reflected by obstacles, and distortion and positioning offset will occur after the positioning signals are superimposed according to the phase, resulting in inaccurate vehicle position information received by the receiving end.

[0003] In the prior art, generally, an auxiliary mobile device (drone) is equipped, and then the target positioning measurement data of the positioning target (vehicle) and the auxiliary end positioning measurement data of the auxiliary mobile device are fused and calculated to obtain the estimated result of the position information of the positioning target. However, this positioning method requires an additional auxiliary mobile device, the cost of obtaining position information is relatively high, and it is easily affected by the error of the auxiliary end positioning measurement data of the auxiliary mobile device, resulting in inaccurate calculated position information. Therefore, there is an urgent need for a more effective method to solve the above problems. Summary of the Invention

[0004] In view of this, embodiments of this specification provide a method for correcting vehicle information. This specification also relates to a device for correcting vehicle information, a computing device, a computer-readable storage medium, and a computer program product to solve the above problems existing in the prior art.

[0005] According to the first aspect of the embodiments of this specification, a method for correcting vehicle information is provided, including:

[0006] Obtain the reference information of the target vehicle and the target vehicle information of the target vehicle at the target moment, where the target vehicle is a guided train;

[0007] Determine the guiding line deviation information of the target vehicle based on the reference information and the target vehicle information, and determine the target instantaneous change information of the target vehicle at the target moment based on the guiding line deviation information;

[0008] In the case that it is determined that the target vehicle has a multipath effect based on the target instantaneous change information and the instantaneous change amount interval, select an auxiliary vehicle without a multipath effect from the vehicle formation where the target vehicle is located;

[0009] Correct the target vehicle information based on the auxiliary vehicle information of the auxiliary vehicle.

[0010] Optionally, obtaining the reference information of the target vehicle includes:

[0011] Determine the guiding path corresponding to the preset driving path of the target vehicle, and form the reference information with at least one path coordinate corresponding to the guiding path.

[0012] Optionally, determining the guiding line deviation information of the target vehicle based on the reference information and the target vehicle information includes:

[0013] Calculate the guiding line deviation information of the target vehicle based on at least one path coordinate in the reference information and the target vehicle coordinate corresponding to the target vehicle information.

[0014] Optionally, determining the target instantaneous change information of the target vehicle at the target moment based on the guiding line deviation information includes:

[0015] Determine the historical moment corresponding to the target moment based on a preset time interval;

[0016] Determine the target instantaneous change information of the target vehicle at the target moment according to the historical guiding line deviation information of the target vehicle at the historical moment and the guiding line deviation information.

[0017] Optionally, determining the presence of multi-path effect of the target vehicle includes:

[0018] When the instantaneous change amount corresponding to the target instantaneous change information is not within the instantaneous change amount interval, determine that the target vehicle has a multi-path effect.

[0019] Optionally, selecting an auxiliary vehicle without multi-path effect in the vehicle formation where the target vehicle is located includes:

[0020] Determine at least one candidate vehicle in the vehicle formation where the target vehicle is located;

[0021] Determine the candidate instantaneous change information corresponding to each of the at least one candidate vehicle, match the candidate instantaneous change information corresponding to each of the at least one candidate vehicle with the instantaneous change amount interval, and select an auxiliary vehicle without multi-path effect from the at least one candidate vehicle according to the matching result.

[0022] Optionally, correcting the target vehicle information based on the auxiliary vehicle information of the auxiliary vehicle includes:

[0023] Determine correction information based on the auxiliary position information included in the auxiliary vehicle information of the auxiliary vehicle, and the distance information and offset information between the auxiliary vehicle and the target vehicle included in the auxiliary vehicle information;

[0024] Correct the target vehicle information based on the correction information.

[0025] Optionally, before correcting the target vehicle information based on the correction information, it further includes:

[0026] Determine whether the guide line deviation value corresponding to the guide line deviation information is less than the guide line deviation threshold;

[0027] If not, perform the step of correcting the target vehicle information based on the correction information;

[0028] If so, use the target vehicle information as the target position information of the target vehicle.

[0029] According to the second aspect of the embodiments of the present specification, a vehicle information correction device is provided, including:

[0030] An acquisition module configured to acquire reference information of a target vehicle and target vehicle information of the target vehicle at a target moment, where the target vehicle is a guided train;

[0031] A determination module configured to determine guide line deviation information of the target vehicle based on the reference information and the target vehicle information, and determine target instantaneous change information of the target vehicle at the target moment based on the guide line deviation information;

[0032] A selection module configured to select an auxiliary vehicle without multipath effect in the vehicle formation where the target vehicle is located when it is determined based on the target instantaneous change information and the instantaneous change amount interval that the target vehicle has a multipath effect;

[0033] A correction module configured to correct the target vehicle information based on the auxiliary vehicle information of the auxiliary vehicle.

[0034] According to the third aspect of the embodiments of the present specification, a computing device is provided, including a memory, a processor, and a computer program or instruction stored on the memory and executable on the processor. When the processor executes the computer program or instruction, the steps of the vehicle information correction method are implemented.

[0035] According to the fourth aspect of the embodiments of the present specification, a computer-readable storage medium is provided, which stores a computer program or instruction. When the computer program or instruction is executed by a processor, the steps of the vehicle information correction method are implemented.

[0036] According to the fifth aspect of the embodiments of the present specification, a computer program product is provided, including a computer program or instruction. When the computer program or instruction is executed by a processor, the steps of the above vehicle information correction method are implemented.

[0037] The vehicle information correction method provided in this specification obtains the reference information of the target vehicle and the target vehicle information of the target vehicle at the target moment, where the target vehicle is a guided train; determines the guiding line deviation information of the target vehicle based on the reference information and the target vehicle information, and determines the target instantaneous change information of the target vehicle at the target moment based on the guiding line deviation information; in the case that it is determined that the target vehicle has a multipath effect based on the target instantaneous change information and the instantaneous change amount interval, selects an auxiliary vehicle that does not have a multipath effect in the vehicle formation where the target vehicle is located; corrects the target vehicle information based on the auxiliary vehicle information of the auxiliary vehicle. During the driving process of the guided train, correcting the target vehicle information based on the auxiliary vehicle information of the auxiliary vehicle that does not have a multipath effect solves the problem that the reported target vehicle information is inaccurate due to the influence of the multipath effect on the target vehicle information reported by the target vehicle, and improves the correction efficiency and accuracy of the target vehicle information. There is no need to equip other auxiliary positioning devices except for the auxiliary vehicle, which reduces the correction cost of the target vehicle information. Description of the Drawings

[0038] Figure 1 is a schematic diagram of a vehicle information correction method provided by an embodiment of this specification;

[0039] Figure 2 is a flowchart of a vehicle information correction method provided by an embodiment of this specification;

[0040] Figure 3 is a processing flowchart of a vehicle information correction method applied to a guided train provided by an embodiment of this specification;

[0041] Figure 4 is a schematic diagram of the target vehicle of a vehicle information correction method provided by an embodiment of this specification;

[0042] Figure 5 is a vehicle information correction flowchart of a vehicle information correction method provided by an embodiment of this specification;

[0043] Figure 6 is a structural schematic diagram of a vehicle information correction device provided by an embodiment of this specification;

[0044] Figure 7 is a structural block diagram of a computing device provided by an embodiment of this specification. Detailed Description of the Embodiment

[0045] In the following description, numerous specific details are set forth in order to provide a thorough understanding of this specification. However, this specification can be implemented in many other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the spirit of this specification. Therefore, this specification is not limited by the specific implementations disclosed below.

[0046] The terms used in one or more embodiments of this specification are for the purpose of describing specific embodiments only and are not intended to limit one or more embodiments of this specification. The singular forms "a", "the", and "said" used in one or more embodiments of this specification and the appended claims are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and / or" used in one or more embodiments of this specification refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0047] It should be understood that although the terms first, second, etc. may be used in one or more embodiments of this specification to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of one or more embodiments of this specification, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein can be interpreted as "when" or "while" or "in response to determining".

[0048] First, the noun terms related to one or more embodiments of this specification are explained.

[0049] Gart: Intelligent Guided Rapid Transit System, which is one of the main systems of the guideway rubber-tyred system.

[0050] IQR: interquartile range, which is a measure used in statistics to describe the degree of dispersion of data distribution, especially when the data distribution is not normal. IQR is the difference between the third quartile (Q3, upper quartile) and the first quartile (Q1, lower quartile).

[0051] Multipath effect: It refers to the situation where radio signals, during the transmission process, due to various effects such as reflection, refraction, and scattering by obstacles, result in multiple different paths for the same signal to reach the receiving end simultaneously.

[0052] During the operation of Gart trains, there may be problems of multipath effects caused by obstacle occlusion. However, multi - formation Gart trains have the advantage of auxiliary positioning in the operation mode. They can perform auxiliary positioning of the position - distorted vehicle by the position - non - distorted vehicle, thereby avoiding the problem of inaccurate positioning caused by multipath effects.Figure 1 It is a schematic diagram of a vehicle information correction method provided by an embodiment of this specification. As Figure 1 shown, obtain the reference information of the target vehicle and the target vehicle information of the target vehicle at the target moment. Among them, the target vehicle is a guided train, and the guided train has a fixed form path during driving. The road of the form path has a guiding line for guiding the vehicle to move forward. Determine the guiding line deviation information of the target vehicle based on the reference information and the target vehicle information, and determine the target instantaneous change information of the target vehicle at the target moment based on the guiding line deviation information. When it is determined that the target vehicle has a multi-path effect based on the target instantaneous change information and the instantaneous change amount interval, select an auxiliary vehicle that does not have a multi-path effect in the vehicle formation where the target vehicle is located. Correct the target vehicle information based on the auxiliary vehicle information of the auxiliary vehicle.

[0053] During the driving process of the guided train, correct the target vehicle information based on the auxiliary vehicle information of the auxiliary vehicle that does not have a multi-path effect, which solves the problem that the reported target vehicle information is inaccurate due to the influence of the multi-path effect on the target vehicle information reported by the target vehicle, and improves the correction efficiency and accuracy of the target vehicle information. There is no need to be equipped with other auxiliary positioning devices except the auxiliary vehicle, which reduces the correction cost of the target vehicle information.

[0054] In this specification, a vehicle information correction method is provided. This specification also relates to a vehicle information correction device, a computing device, a computer-readable storage medium, and a computer program product, which will be described in detail one by one in the following embodiments.

[0055] Figure 2 It shows a flowchart of a vehicle information correction method provided by an embodiment of this specification, which specifically includes the following steps:

[0056] Step 202: Obtain the reference information of the target vehicle and the target vehicle information of the target vehicle at the target moment, where the target vehicle is a guided train.

[0057] Specifically, the target vehicle refers to a train in the guided train, and the guided train refers to a rubber-tired guided rapid transit train; the guided vehicle can have at least two carriages. The guided train is a GART standard train. The guided train needs to drive along the dotted guiding line during driving. The guiding line has a guiding effect on the guided train and guides the forward direction of the vehicle. The reference information refers to the guiding line path of the target vehicle; the target vehicle information refers to the driving state information of the target vehicle, and the driving state information includes but is not limited to the driving position information, driving speed information, and driving acceleration information of the target vehicle.

[0058] Based on this, obtain the reference information preset for the driving path of the target vehicle, and the target vehicle information of the target vehicle at the target moment, where the target vehicle is a guided train, and the reference information is used to guide the driving path of the target vehicle and guide the target vehicle to drive on the preset driving path.

[0059] Furthermore, considering that the target vehicle needs to drive along a guiding line in the form of a dotted line during driving, the guiding line can be used to generate the reference information. The specific implementation is as follows:

[0060] Determine the guiding line path corresponding to the preset driving path of the target vehicle, and form the reference information by at least one path coordinate corresponding to the guiding line path.

[0061] Specifically, the preset driving path refers to the driving path set for the target vehicle, which is used to stipulate that the target vehicle drives along the preset driving path; the target vehicle can be used in transportation scenarios such as public transportation and cargo transportation; the guiding line path is the path composed of guiding lines that matches the preset driving path, and the guiding line can be a solid line or a dotted line drawn on the road surface and other routes that have the function of guiding and prompting the driving direction of the vehicle; the path coordinate refers to the coordinate corresponding to the guiding line path, and the guiding line path can be regarded as composed of a set of path coordinates, indicating the position coordinates corresponding to each position in the guiding line path, and the coordinate values of the path coordinates can be determined with reference to the world coordinate system.

[0062] Based on this, determine the guiding line path corresponding to the preset driving path of the target vehicle, and form the reference information by at least one path coordinate corresponding to the guiding line path.

[0063] For example, during the driving of a guided train, when the receiver on the vehicle-mounted terminal receives satellite positioning signals, there are positioning signals reflected by obstacles, and there is a phenomenon of distortion and positioning deviation after the phase superposition of each positioning signal. This phenomenon is the multipath effect of the train. The guided vehicle can have at least two carriages. The guided train needs to drive along a guiding line in the form of a dotted line during driving. The guiding line has a guiding effect on the guided train and guides the forward direction of the vehicle. Therefore, the guiding line path can be regarded as a path coordinate set P = {X, Y} composed of at least one path coordinate, and the coordinate set P = {X, Y} is regarded as the reference information.

[0064] In summary, determine at least one path point corresponding to the guiding line path, and form the reference information by the path coordinates corresponding to each path point. The reference information is used to represent the set of ideal trajectories of the target vehicle.

[0065] Step 204: Determine the guiding line deviation information of the target vehicle based on the reference information and the target vehicle information, and determine the target instantaneous change information of the target vehicle at the target moment based on the guiding line deviation information.

[0066] Specifically, after obtaining the reference information of the target vehicle and the target vehicle information of the target vehicle at the target moment, the guiding line deviation information of the target vehicle can be determined based on the reference information and the target vehicle information, and the target instantaneous change information of the target vehicle at the target moment can be determined based on the guiding line deviation information, where the guiding line deviation information represents the deviation value between the current position of the target vehicle at the target moment and the guiding line; the target instantaneous change information represents the vehicle position change amount between the previous historical moment corresponding to the target moment and the target moment.

[0067] Based on this, after obtaining the reference information of the target vehicle and the target vehicle information of the target vehicle at the target moment, the guiding line deviation information of the target vehicle relative to the reference information is determined based on the reference information and the target vehicle information, the historical moment corresponding to the target moment is determined, and the target instantaneous change information of the target vehicle between the target moment and the historical moment is determined based on the guiding line deviation information.

[0068] Furthermore, considering that the guiding line deviation information represents the deviation between the driving path of the target vehicle and the guiding line path, the guiding line deviation information can be calculated based on the path coordinates, and the specific implementation is as follows:

[0069] Calculate the guiding line deviation information of the target vehicle based on at least one path coordinate in the reference information and the target vehicle coordinate corresponding to the target vehicle information.

[0070] Based on this, the reference information contains at least one path coordinate corresponding to the guiding line path, and the target vehicle information contains the vehicle position information of the target vehicle, and the vehicle position information is represented in the form of vehicle coordinates. The minimum distance is calculated between the vehicle coordinates and each path coordinate respectively, and the calculated minimum distance is the guiding line deviation information of the target vehicle.

[0071] Continuing with the above example, the reference information contains at least one path coordinate corresponding to the guiding line path to form a path coordinate set P. The target vehicle coordinate corresponding to the vehicle position information in the target vehicle information is denoted as p1 = {x1, y1}, and the vehicle speed is denoted as v1. Then the calculation method of the guiding line deviation information △P can be

[0072] To sum up, the guiding line deviation information of the target vehicle is calculated based on at least one path coordinate in the reference information and the target vehicle coordinate corresponding to the target vehicle information, thereby improving the calculation accuracy.

[0073] Furthermore, considering that the guiding line deviation information represents the deviation between the driving path of the target vehicle and the guiding line path, it is also necessary to convert it into the target instantaneous change information of the target vehicle to realize the correction of the vehicle information of the target vehicle, and the specific implementation is as follows:

[0074] Determine the historical moment corresponding to the target moment based on a preset time interval; determine the target instantaneous change information of the target vehicle at the target moment according to the historical guiding line deviation information of the target vehicle at the historical moment and the guiding line deviation information.

[0075] Specifically, the historical moment refers to the moment before the target moment, and the preset time interval between the target moment and the historical moment can be in seconds or milliseconds as the time measurement unit; the historical guiding line deviation information is the deviation information between the target vehicle and the guiding line path at the historical moment.

[0076] Based on this, determine the historical moment before the target moment based on a preset time interval. Determine the historical guiding line deviation information of the target vehicle at the historical moment, and determine the target instantaneous change information of the target vehicle at the target moment based on the historical guiding line deviation information and the guiding line deviation information.

[0077] Continuing with the above example, when the target moment is t and the historical moment is t - 1, the guiding line deviation information is △P t , the historical guiding line deviation information △P t-1 , the historical guiding line deviation information △P at the moment t - 1 can be based on t-1 and the guiding line deviation information △P t Perform a difference calculation: ΔS t = ΔP t - ΔP t-1 , and obtain the target instantaneous change information △S t .

[0078] In summary, determine the target instantaneous change information of the target vehicle at the target moment based on the historical guiding line deviation information and the guiding line deviation information, and then use it to correct the vehicle information of the target vehicle subsequently.

[0079] Step 206: When it is determined that the target vehicle has a multipath effect based on the target instantaneous change information and the instantaneous change amount interval, select an auxiliary vehicle without a multipath effect in the vehicle formation where the target vehicle is located.

[0080] Specifically, after determining the guiding line deviation information of the target vehicle based on the reference information and the target vehicle information, and determining the target instantaneous change information of the target vehicle at the target moment based on the guiding line deviation information, when it is determined that the target vehicle has a multipath effect based on the target instantaneous change information and the instantaneous change amount interval, an auxiliary vehicle without a multipath effect is selected from the vehicle formation where the target vehicle is located. Herein, the instantaneous change amount interval refers to the interval of the positioning instantaneous change statistic corresponding to the interquartile range (IQR) verification, which is used to detect the instantaneous change of the current positioning of the target vehicle. The instantaneous change amount interval can be used to detect whether the target vehicle has a multipath effect; when the change amount corresponding to the target instantaneous change information is within the instantaneous change amount interval, it indicates that the target vehicle does not have a multipath effect. The vehicle formation refers to the train formation where the target vehicle is located, and the vehicle formation includes at least two trains. The auxiliary train is used for assisting the positioning of the target train.

[0081] Based on this, after determining the guiding line deviation information of the target vehicle based on the reference information and the target vehicle information, and determining the target instantaneous change information of the target vehicle at the target moment based on the guiding line deviation information, it is determined whether the target vehicle has a multipath effect based on the target instantaneous change information and the instantaneous change amount interval. When it is determined that the target vehicle has a multipath effect based on the target instantaneous change information and the instantaneous change amount interval, it indicates that the vehicle position information included in the target vehicle information of the currently received target vehicle is inaccurate. An auxiliary vehicle without a multipath effect is selected from the vehicle formation where the target vehicle is located, and subsequently, the target vehicle can be assisted in positioning based on the auxiliary vehicle.

[0082] Further, when determining whether the target vehicle has a multipath effect, the instantaneous change amount interval can be referred to, and the specific implementation is as follows:

[0083] When the instantaneous change amount corresponding to the target instantaneous change information is not within the instantaneous change amount interval, it is determined that the target vehicle has a multipath effect.

[0084] Specifically, the determination of the multipath effect can be realized based on the instantaneous change amount interval, that is, the interquartile range (IQR) verification can be adopted.

[0085] Based on this, it is determined whether the instantaneous change amount corresponding to the target instantaneous change information is within the instantaneous change amount interval. When the instantaneous change amount corresponding to the target instantaneous change information is within the instantaneous change amount interval, it indicates that the target vehicle does not have a multipath effect. When the instantaneous change amount corresponding to the target instantaneous change information is not within the instantaneous change amount interval, it indicates that the target vehicle has a multipath effect.

[0086] Continuing with the above example, the determination of the multipath effect can be realized based on the instantaneous change amount interval, that is, the interquartile range (IQR) verification can be adopted. When △St When the target vehicle is within the instantaneous variation interval [Q1-c×IQR,Q3+c×IQR], it is considered that there is no multipath effect. IQR verification is common knowledge in statistics, where IQR represents the interquartile range, Q3, Q1 represent the third quartile and the first quartile, and c represents the interquartile range coefficient, which is usually 1.5).

[0087] In summary, when the instantaneous change amount corresponding to the target instantaneous change information is not within the instantaneous change amount interval, it is determined that the target vehicle has a multipath effect, thereby improving the judgment accuracy of the target vehicle.

[0088] Furthermore, only when there is no multipath effect on the vehicle can it be used as an auxiliary vehicle to assist the target vehicle in correcting vehicle information. The auxiliary vehicle can be selected in the vehicle formation, and the specific implementation is as follows:

[0089] Determine at least one candidate vehicle in the vehicle formation where the target vehicle is located; determine candidate instantaneous change information corresponding to the at least one candidate vehicle, and match the candidate instantaneous change information corresponding to the at least one candidate vehicle with the instantaneous change amount interval, and select an auxiliary vehicle without multipath effect from the at least one candidate vehicle according to the matching result.

[0090] Specifically, the target vehicle belongs to a vehicle group, a vehicle group includes at least two trains, and the trains can complete auxiliary positioning with each other; the candidate vehicle can be any vehicle in the vehicle group. The candidate instantaneous change information refers to the instantaneous change information of the candidate vehicle.

[0091] Based on this, at least one candidate vehicle is determined in the vehicle formation where the target vehicle is located. All vehicles except the target vehicle can be selected as candidate vehicles, or vehicles closer to the target vehicle can be selected as candidate vehicles. Candidate instantaneous change information corresponding to at least one candidate vehicle is determined, and the candidate instantaneous change information corresponding to at least one candidate vehicle is matched with the instantaneous change interval. Among the at least one candidate vehicle, the candidate vehicle matching the instantaneous change interval is selected as an auxiliary vehicle. The instantaneous change information of the auxiliary vehicle is within the instantaneous change interval, indicating that there is no multipath effect, and the auxiliary vehicle can be selected as the auxiliary vehicle.

[0092] Using the above example, when the auxiliary vehicle's auxiliary transient change information △S t If the auxiliary vehicle is not in the instantaneous change interval [Q1-c×IQR,Q3+c×IQR], it is considered that the auxiliary vehicle has a multipath effect. The auxiliary instantaneous change information of the auxiliary vehicle △S t’ and the auxiliary instantaneous change information △P’ are calculated using the same calculation method as that of the target vehicle. By comparing the candidate instantaneous change information of the candidate vehicle with the instantaneous change amount interval, it can be determined whether the candidate vehicle can be used as an auxiliary vehicle.

[0093] In summary, select a candidate vehicle without multipath effect as the auxiliary vehicle, which is convenient for subsequent correction of the target vehicle information of the target vehicle.

[0094] Step 208: Correct the target vehicle information based on the auxiliary vehicle information of the auxiliary vehicle.

[0095] Specifically, in the case where it is determined that the target vehicle has a multipath effect based on the target instantaneous change information and the instantaneous change amount interval, after selecting an auxiliary vehicle without a multipath effect in the vehicle formation where the target vehicle is located, the target vehicle information can be corrected based on the auxiliary vehicle information of the auxiliary vehicle. Here, correcting the target vehicle information means correcting the vehicle position information included in the target vehicle information. Since the target vehicle has a multipath effect, the vehicle position information in the target vehicle information will be inaccurately positioned, and it is necessary to use the auxiliary vehicle to correct the target vehicle information.

[0096] Based on this, in the case where it is determined that the target vehicle has a multipath effect based on the target instantaneous change information and the instantaneous change amount interval, after selecting an auxiliary vehicle without a multipath effect in the vehicle formation where the target vehicle is located, determine the auxiliary vehicle information of the auxiliary vehicle, and correct the target vehicle information of the target vehicle based on the auxiliary position information of the auxiliary vehicle in the auxiliary vehicle information to correct the target position information of the target vehicle.

[0097] Furthermore, after determining the auxiliary vehicle, the target vehicle information of the target vehicle can be corrected based on the auxiliary vehicle. The specific implementation is as follows:

[0098] Determine the correction information based on the auxiliary position information included in the auxiliary vehicle information of the auxiliary vehicle, and the distance information and offset information between the auxiliary vehicle and the target vehicle included in the auxiliary vehicle information; correct the target vehicle information based on the correction information.

[0099] Specifically, the auxiliary position information refers to the vehicle position coordinates of the auxiliary vehicle; the distance information refers to the vehicle distance between the target vehicle and the auxiliary vehicle; the offset information refers to the offset amount generated due to different vehicle running states and external environmental interferences based on the distance information. The correction information is the vehicle position information of the target vehicle obtained through calculation.

[0100] Based on this, determine the auxiliary position information included in the auxiliary vehicle information of the auxiliary vehicle. And determine the distance information between the auxiliary vehicle and the target vehicle included in the auxiliary vehicle information, and the offset information corresponding to the distance information. Determine the correction information of the target vehicle based on the auxiliary position information, distance information, and offset information. Correct the target vehicle information of the target vehicle based on the correction information.

[0101] Continuing with the above example, in the case where the target vehicle has multipath effects and the auxiliary vehicle does not have multipath effects, the correction information of the target vehicle can be determined based on the auxiliary vehicle information of the auxiliary vehicle. The auxiliary vehicle information includes the auxiliary position information b, and the auxiliary vehicle information also includes the distance information L between the auxiliary vehicle and the target vehicle. Among them, the distance information L is the fixed vehicle distance of the multi - formation train, which is a preset value L. Due to different vehicle operating states and external environmental interferences, there will be an offset on the basis of L, and the offset is the auxiliary position information b. Therefore, the correction information P1’ is P1’ = P2 + L + b. Where v1 is the vehicle speed of the target vehicle at time t, v2 is the vehicle speed of the auxiliary vehicle at time t; Δt m , Δt e are the measured time difference and the time difference set by the train operation diagram, respectively.

[0102] In summary, correct the target vehicle information of the target vehicle based on the correction information, so as to improve the accuracy of the target vehicle information of the target vehicle.

[0103] Furthermore, considering that whether the target vehicle deviates from the guiding line path can be determined based on the guiding line deviation information, in the case where the target vehicle does not deviate too much from the guiding line path, there is no need to correct the target vehicle information of the target vehicle. The specific implementation is as follows:

[0104] Judge whether the guiding line deviation value corresponding to the guiding line deviation information is less than the guiding line deviation threshold; if not, execute the step of correcting the target vehicle information based on the correction information; if so, use the target vehicle information as the target position information of the target vehicle.

[0105] Specifically, the guiding line deviation value refers to the deviation value of the target vehicle deviating from the guiding line path; the guiding line deviation threshold can be a preset deviation value. In the case where the guiding line deviation value is less than the guiding line deviation threshold, there is no need to correct the target vehicle information of the target vehicle.

[0106] Based on this, determine whether the guide line deviation value corresponding to the guide line deviation information is less than the guide line deviation threshold; if the guide line deviation value corresponding to the guide line deviation information is not less than the guide line deviation threshold, it means that the target vehicle deviates from the guide line path by a large amount, and the target vehicle information can be corrected based on the correction information; if the guide line deviation value corresponding to the guide line deviation information is less than the guide line deviation threshold, it means that the target vehicle deviates from the guide line path by a small amount, and the target vehicle information can be used as the target position information of the target vehicle.

[0107] In summary, by determining whether the guide line deviation value corresponding to the guide line deviation information is less than the guide line deviation threshold, it can be determined whether it is necessary to correct the target vehicle information based on the correction information, thereby solving the problem that the target vehicle information is inaccurate due to the multi-path effect of the target vehicle.

[0108] The vehicle information correction method provided in this specification obtains the reference information of the target vehicle and the target vehicle information of the target vehicle at the target moment, where the target vehicle is a guided train; determines the guide line deviation information of the target vehicle based on the reference information and the target vehicle information, and determines the target instantaneous change information of the target vehicle at the target moment based on the guide line deviation information; in the case where it is determined that the target vehicle has a multi-path effect based on the target instantaneous change information and the instantaneous change amount interval, an auxiliary vehicle that does not have a multi-path effect is selected from the vehicle formation where the target vehicle is located; corrects the target vehicle information based on the auxiliary vehicle information of the auxiliary vehicle. During the driving process of the guided train, correcting the target vehicle information based on the auxiliary vehicle information of the auxiliary vehicle that does not have a multi-path effect solves the problem that the reported target vehicle information is inaccurate due to the influence of the multi-path effect on the target vehicle information reported by the target vehicle, and improves the correction efficiency and accuracy of the target vehicle information. There is no need to equip other auxiliary positioning devices except for the auxiliary vehicle, which reduces the correction cost of the target vehicle information.

[0109] The following combines the attached Figure 3 , taking the application of the vehicle information correction method provided in this specification in the vehicle information correction of the guided train as an example, to further illustrate the vehicle information correction method. Among them, Figure 3 FIG. shows a processing flow chart of a vehicle information correction method applied to a guided train provided in an embodiment of this specification, which specifically includes the following steps:

[0110] Step 302: Determine the guide line path corresponding to the preset driving path of the target vehicle, and form the reference information from at least one path coordinate corresponding to the guide line path.

[0111] In practical applications, the target vehicle can be a guided train. During the running of the guided train, when the receiver on the vehicle-mounted terminal receives satellite positioning signals, there are positioning signals reflected by obstacles, resulting in distortion and positioning deviation after the phase superposition of each positioning signal. This phenomenon is the multipath effect of the train. Among them, the guided train refers to a rubber-tired guided rapid transit train. As Figure 4 shown, the guided train can have at least two carriages. The guided train needs to run along the guiding line in the form of a dotted line drawn on the road surface during the running process. The guiding line has a guiding effect on the guided train and guides the advancing direction of the train. Denote the guiding line path as P, which can be converted into a set of ideal vehicle trajectories P = {X, Y}, that is, the set contains at least one path coordinate.

[0112] Step 304: Calculate the guiding line deviation information of the target vehicle based on at least one path coordinate in the reference information and the target vehicle coordinate in the target vehicle information.

[0113] The target vehicle coordinate in the target vehicle information is denoted as p1 = {x1, y1}, and the vehicle speed is denoted as v1. According to the target vehicle coordinate and the set of ideal vehicle trajectories, using the guiding line deviation information ΔP can be calculated. Among them, the target vehicle coordinate can be determined by a positioning device, and the vehicle speed v1 can be determined by a speed sensor.

[0114] Step 306: Determine the historical moment corresponding to the target moment based on a preset time interval, and determine the target instantaneous change information of the target vehicle at the target moment according to the historical guiding line deviation information and the guiding line deviation information of the target vehicle at the historical moment.

[0115] The moment when the target vehicle coordinate is currently obtained is denoted as t. Based on the historical guiding line deviation information ΔP at the t - 1 moment t-1 and the guiding line deviation information ΔP at the t moment t calculate the difference: ΔS t = ΔP t - ΔP t-1 to obtain the target instantaneous change information ΔS t .

[0116] Step 308: Determine the candidate instantaneous change information corresponding to each of at least one candidate vehicle, match the candidate instantaneous change information corresponding to each of at least one candidate vehicle with the instantaneous change amount interval, and select an auxiliary vehicle without multipath effect from at least one candidate vehicle according to the matching result.

[0117] The candidate vehicle can be a vehicle associated with the target vehicle within a multi - formation. The auxiliary vehicle is the vehicle determined from the candidate vehicles for assisting in positioning the target vehicle. The auxiliary vehicle can be used for assisting in positioning the target vehicle only when there is no multipath effect. Correspondingly, when there is a multipath effect on the target vehicle, it is necessary to perform auxiliary positioning through the auxiliary vehicle. Among them, the judgment of the multipath effect can be achieved based on the instantaneous change amount interval, that is, it can be achieved by the method of interquartile range (IQR) verification. When △S t is within the instantaneous change amount interval [Q1 - c×IQR, Q3 + c×IQR], it is considered that there is no multipath effect on the target vehicle. Among them, IQR verification is general knowledge in statistics. Here, IQR represents the interquartile range, Q3 and Q1 represent the third quartile and the first quartile respectively, and c represents the interquartile range coefficient, usually taking 1.5); Correspondingly, when the auxiliary instantaneous change information △S t ’ of the auxiliary vehicle is within the instantaneous change amount interval [Q1 - c×IQR, Q3 + c×IQR], it is considered that there is no multipath effect on the auxiliary vehicle. The auxiliary instantaneous change information △S t ’ and the auxiliary instantaneous change information △P’ are calculated using the same calculation method as that of the target vehicle.

[0118] Step 310: When it is determined that there is a multipath effect on the target vehicle based on the target instantaneous change information and the instantaneous change amount interval, determine the correction information based on the auxiliary position information included in the auxiliary vehicle information of the auxiliary vehicle, and the distance information and offset information between the auxiliary vehicle and the target vehicle included in the auxiliary vehicle information.

[0119] When there is a multipath effect on the target vehicle and no multipath effect on the auxiliary vehicle, the correction information of the target vehicle can be determined based on the auxiliary vehicle information of the auxiliary vehicle. The auxiliary vehicle information includes the auxiliary position information b, and the auxiliary vehicle information also includes the distance information L between the auxiliary vehicle and the target vehicle. Among them, the distance information L is the fixed vehicle distance of the multi - formation train, which is a preset value L. Due to different vehicle operating states and external environmental interferences, there will be an offset on the basis of L, and the offset is the auxiliary position information b. Therefore, the correction information P1’ is P1’ = P2 + L + b. Among them, v1 represents the vehicle speed of the target vehicle at time t, v2 represents the vehicle speed of the auxiliary vehicle at time t; Δt m , Δt e respectively represent the measured time difference and the time difference set in the train operation diagram.

[0120] Step 312: Judge whether the guide - line deviation value corresponding to the guide - line deviation information is less than the guide - line deviation threshold. If not, execute Step 314; if so, execute Step 316.

[0121] After determining the correction information, it is possible to determine whether the target vehicle deviates from the guiding line by judging whether the guiding line deviation value is less than the guiding line deviation threshold, so as to perform auxiliary deviation detection on the target vehicle.

[0122] Step 314: Correct the target vehicle information based on the correction information.

[0123] The guiding line deviation value being greater than or equal to the guiding line deviation threshold indicates that the position information of the target vehicle needs to be corrected.

[0124] Step 316: Use the target vehicle information as the target position information of the target vehicle.

[0125] The guiding line deviation value being less than the guiding line deviation threshold indicates that the position information of the target vehicle may not need to be corrected.

[0126] In summary, by judging whether there is a multipath effect in the target vehicle and the auxiliary vehicle, and using the auxiliary vehicle to correct the position of the target vehicle, the correction efficiency and accuracy of the target vehicle information are improved. There is no need to equip other auxiliary positioning devices except the auxiliary vehicle, reducing the correction cost of the target vehicle information.

[0127] In practical applications, Figure 5 is a vehicle information correction flowchart showing a vehicle information correction method. As Figure 5 shown, the target vehicle is the vehicle to be positioned (the first vehicle), and the auxiliary positioning vehicle is the second vehicle. Determine the positioning instantaneous change amount △S of the first vehicle t , and judge whether the positioning instantaneous change amount is within the interquartile range IQR. If so, there is no need to correct the first vehicle; if not, the first vehicle needs to be corrected, perform positioning correction and output. Then determine whether the deviation value between the positioning and the guiding line is less than the set threshold. If so, the judgment of the interquartile range can be executed. If not, it means that the first vehicle needs to be corrected. Among them, by determining the positioning instantaneous change amount △S t ’ of the auxiliary positioning vehicle, and when the positioning instantaneous change amount is within the interquartile range IQR, it means that the auxiliary positioning vehicle does not have a multipath effect and can perform auxiliary positioning. If it is not within the interquartile range IQR, it means that the auxiliary positioning vehicle has a multipath effect and cannot perform auxiliary positioning. In the case where the auxiliary positioning vehicle has a multipath effect, it is possible to judge whether the deviation value between the auxiliary positioning and the guiding line is less than the set threshold. If it is less, it is possible to re-judge whether the positioning instantaneous change amount is within the interquartile range IQR. If it is not less, the auxiliary positioning vehicle cannot perform auxiliary positioning.

[0128] The vehicle information correction method provided in this specification obtains the reference information of the target vehicle and the target vehicle information of the target vehicle at the target moment, where the target vehicle is a guided train; determines the guiding line deviation information of the target vehicle based on the reference information and the target vehicle information, and determines the target instantaneous change information of the target vehicle at the target moment based on the guiding line deviation information; when it is determined that the target vehicle has a multipath effect based on the target instantaneous change information and the instantaneous change amount interval, selects an auxiliary vehicle without a multipath effect in the vehicle formation where the target vehicle is located; corrects the target vehicle information based on the auxiliary vehicle information of the auxiliary vehicle. During the driving process of the guided train, the target vehicle information is corrected based on the auxiliary vehicle information of the auxiliary vehicle without a multipath effect, which solves the problem that the reported target vehicle information is inaccurate due to the influence of the multipath effect on the target vehicle information reported by the target vehicle, and improves the correction efficiency and accuracy of the target vehicle information. In addition to the auxiliary vehicle, no other auxiliary positioning devices need to be equipped, which reduces the correction cost of the target vehicle information.

[0129] Corresponding to the above method embodiment, this specification also provides an embodiment of a vehicle information correction device. Figure 6 The structure diagram of a vehicle information correction device provided by an embodiment of this specification is shown. As Figure 6 shown, the device includes:

[0130] An acquisition module 602, configured to acquire the reference information of the target vehicle and the target vehicle information of the target vehicle at the target moment, where the target vehicle is a guided train;

[0131] A determination module 604, configured to determine the guiding line deviation information of the target vehicle based on the reference information and the target vehicle information, and determine the target instantaneous change information of the target vehicle at the target moment based on the guiding line deviation information;

[0132] A selection module 606, configured to select an auxiliary vehicle without a multipath effect in the vehicle formation where the target vehicle is located when it is determined that the target vehicle has a multipath effect based on the target instantaneous change information and the instantaneous change amount interval;

[0133] A correction module 608, configured to correct the target vehicle information based on the auxiliary vehicle information of the auxiliary vehicle.

[0134] In an optional embodiment, the acquisition module 602 is further configured to:

[0135] Determine a guiding route corresponding to a preset driving route of the target vehicle, and form the reference information from at least one path coordinate corresponding to the guiding route.

[0136] In an alternative embodiment, the obtaining module 602 is further configured to:

[0137] Calculate guiding line deviation information of the target vehicle based on the at least one path coordinate and a target vehicle coordinate corresponding to the target vehicle information.

[0138] In an alternative embodiment, the obtaining module 602 is further configured to:

[0139] Determine a historical moment corresponding to the target moment based on a preset time interval;

[0140] Determine target instantaneous change information of the target vehicle at the target moment according to historical guiding line deviation information of the target vehicle at the historical moment and the guiding line deviation information.

[0141] In an alternative embodiment, the selecting module 606 is further configured to:

[0142] When an instantaneous change amount corresponding to the target instantaneous change information is not within the instantaneous change amount interval, determine that the target vehicle has a multi-path effect.

[0143] In an alternative embodiment, the selecting module 606 is further configured to:

[0144] Determine at least one candidate vehicle in a vehicle formation where the target vehicle is located;

[0145] Determine candidate instantaneous change information corresponding to each of the at least one candidate vehicle, match the candidate instantaneous change information corresponding to each of the at least one candidate vehicle with the instantaneous change amount interval, and select an auxiliary vehicle without a multi-path effect from the at least one candidate vehicle according to a matching result.

[0146] In an alternative embodiment, the correcting module 608 is further configured to:

[0147] Determine correction information based on auxiliary position information included in auxiliary vehicle information of the auxiliary vehicle, and distance information and offset information between the auxiliary vehicle and the target vehicle included in the auxiliary vehicle information;

[0148] Correct the target vehicle information based on the correction information.

[0149] In an alternative embodiment, the correcting module 608 is further configured to:

[0150] Determine whether the guide line deviation value corresponding to the guide line deviation information is less than the guide line deviation threshold;

[0151] If not, perform the step of correcting the target vehicle information based on the correction information;

[0152] If so, use the target vehicle information as the target position information of the target vehicle.

[0153] The vehicle information correction method provided in this specification obtains the reference information of the target vehicle and the target vehicle information of the target vehicle at the target moment, where the target vehicle is a guided train; determines the guide line deviation information of the target vehicle based on the reference information and the target vehicle information, and determines the target instantaneous change information of the target vehicle at the target moment based on the guide line deviation information; when it is determined that the target vehicle has a multipath effect based on the target instantaneous change information and the instantaneous change amount interval, select an auxiliary vehicle without a multipath effect in the vehicle formation where the target vehicle is located; correct the target vehicle information based on the auxiliary vehicle information of the auxiliary vehicle. During the driving of the guided train, the target vehicle information is corrected based on the auxiliary vehicle information of the auxiliary vehicle without a multipath effect, which solves the problem that the reported target vehicle information is inaccurate due to the influence of the multipath effect on the target vehicle information reported by the target vehicle, and improves the correction efficiency and accuracy of the target vehicle information. There is no need to equip other auxiliary positioning devices except for the auxiliary vehicle, which reduces the correction cost of the target vehicle information.

[0154] The above is a schematic solution of a vehicle information correction device according to an embodiment of this specification. It should be noted that the technical solution of the vehicle information correction device and the technical solution of the above vehicle information correction method belong to the same concept. For the details not described in the technical solution of the vehicle information correction device, reference can be made to the description of the technical solution of the above vehicle information correction method.

[0155] Figure 7 The structural block diagram of a computing device 700 provided according to an embodiment of this specification is shown. The components of the computing device 700 include, but are not limited to, a memory 710 and a processor 720. The processor 720 is connected to the memory 710 through a bus 730, and a database 750 is used to store data.

[0156] The computing device 700 also includes an access device 740, which enables the computing device 700 to communicate via one or more networks 760. Examples of such networks include the Public Switched Telephone Network (PSTN), Local Area Network (LAN), Wide Area Network (WAN), Personal Area Network (PAN), or a combination of communication networks such as the Internet. The access device 740 may include one or more of any type of wired or wireless network interfaces (e.g., network interface card (NIC)), such as an IEEE 802.11 Wireless Local Area Network (WLAN) wireless interface, Worldwide Interoperability for Microwave Access (Wi-MAX) interface, Ethernet interface, Universal Serial Bus (USB) interface, cellular network interface, Bluetooth interface, Near Field Communication (NFC) interface, and so on.

[0157] In one embodiment of the present specification, the above components of the computing device 700 and Figure 7 other components not shown therein may also be connected to each other, for example, via a bus. It should be understood that Figure 7 the block diagram of the computing device shown is for illustrative purposes only and is not a limitation on the scope of the present specification. Those skilled in the art may add or replace other components as needed.

[0158] The computing device 700 can be any type of stationary or mobile computing device, including mobile computers or mobile computing devices (e.g., tablet computers, personal digital assistants, laptop computers, notebook computers, netbooks, etc.), mobile phones (e.g., smartphones), wearable computing devices (e.g., smartwatches, smart glasses, etc.) or other types of mobile devices, or stationary computing devices such as desktop computers or personal computers (PCs). The computing device 700 can also be a mobile or stationary server.

[0159] Wherein, when the processor 720 executes the computer program or instructions, the steps of the vehicle information correction method are implemented.

[0160] The above is a schematic solution of a computing device according to this embodiment. It should be noted that the technical solution of this computing device and the technical solution of the above vehicle information correction method belong to the same concept. For the details not described in detail in the technical solution of the computing device, reference can be made to the description of the technical solution of the above vehicle information correction method.

[0161] An embodiment of this specification also provides a computer-readable storage medium storing a computer program or instruction, and when the computer program or instruction is executed by a processor, the steps of the vehicle information correction method as described above are implemented.

[0162] The above is a schematic solution of a computer-readable storage medium according to this embodiment. It should be noted that the technical solution of this storage medium and the technical solution of the above vehicle information correction method belong to the same concept. For the details not described in detail in the technical solution of the storage medium, reference can be made to the description of the technical solution of the above vehicle information correction method.

[0163] An embodiment of this specification also provides a computer program product including a computer program or instruction, and when the computer program or instruction is executed by a processor, the steps of the above vehicle information correction method are implemented.

[0164] The above is a schematic solution of a computer program product according to this embodiment. It should be noted that the technical solution of this computer program product and the technical solution of the above vehicle information correction method belong to the same concept. For the details not described in detail in the technical solution of the computer program product, reference can be made to the description of the technical solution of the above vehicle information correction method.

[0165] The above describes specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve the desired result. Additionally, the processes depicted in the figures do not necessarily require the particular order or sequential order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0166] The computer program or instruction includes computer program code, and the computer program code may be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc.

[0167] It should be noted that for the foregoing method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should know that this specification is not limited by the described action sequence, because according to this specification, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this specification.

[0168] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0169] The preferred embodiments of this specification disclosed above are only used to help explain this specification. The alternative embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this specification, so that those skilled in the art can well understand and utilize this specification. This specification is only limited by the claims and their full scope and equivalents.

Claims

1. A vehicle information correction method, characterized in that: include: Acquire reference information of a target vehicle and target vehicle information of the target vehicle at a target time, wherein the target vehicle is a guide train and the reference information is a guide line path of the target vehicle; Determine the guide line deviation information of the target vehicle based on the reference information and the target vehicle information, and determine the target instantaneous change information of the target vehicle at the target time based on the guide line deviation information, wherein the guide line deviation information indicates the deviation value between the target vehicle and the guide line path; In the case where it is determined that the target vehicle has a multipath effect based on the target instantaneous change information and the instantaneous change amount interval, selecting an auxiliary vehicle without a multipath effect in the vehicle formation where the target vehicle is located; The target vehicle information is corrected based on the auxiliary vehicle information of the auxiliary vehicle.

2. The vehicle information correction method according to claim 1, characterized in that: The obtaining of reference information of the target vehicle includes: A guide line path corresponding to a preset driving path of the target vehicle is determined, and the reference information is composed of at least one path coordinate corresponding to the guide line path.

3. The vehicle information correction method according to claim 2, characterized in that: The determining the guide line deviation information of the target vehicle based on the reference information and the target vehicle information includes: The guide line deviation information of the target vehicle is calculated based on at least one path coordinate in the reference information and the target vehicle coordinates corresponding to the target vehicle information.

4. The vehicle information correction method according to claim 2, characterized in that: The determining the target instantaneous change information of the target vehicle at the target time based on the guide line deviation information includes: Determining the historical moment corresponding to the target moment based on a preset time interval; The target instantaneous change information of the target vehicle at the target moment is determined according to the historical guide line deviation information of the target vehicle at the historical moment and the guide line deviation information.

5. The vehicle information correction method according to claim 1, characterized in that: The determination that the target vehicle has a multipath effect includes: When the instantaneous change amount corresponding to the target instantaneous change information is not within the instantaneous change amount interval, it is determined that the target vehicle has a multipath effect.

6. The vehicle information correction method according to claim 1, characterized in that: The selecting of an auxiliary vehicle without multipath effect in the vehicle formation where the target vehicle is located comprises: Determine at least one candidate vehicle in the vehicle formation where the target vehicle is located; Determine the candidate instantaneous change information corresponding to the at least one candidate vehicle, match the candidate instantaneous change information corresponding to the at least one candidate vehicle with the instantaneous change interval, and select an auxiliary vehicle without multipath effect from the at least one candidate vehicle according to the matching result.

7. The vehicle information correction method according to claim 1, characterized in that: The modifying the target vehicle information based on the auxiliary vehicle information of the auxiliary vehicle includes: determining correction information based on auxiliary position information included in the auxiliary vehicle information of the auxiliary vehicle, and distance information and offset information between the auxiliary vehicle and the target vehicle included in the auxiliary vehicle information; The target vehicle information is corrected based on the correction information.

8. The vehicle information correction method according to claim 7, characterized in that: Before the target vehicle information is corrected based on the correction information, the method further includes: Determining whether a guide line deviation value corresponding to the guide line deviation information is less than a guide line deviation threshold; If not, executing the step of correcting the target vehicle information based on the correction information; If so, the target vehicle information is used as the target position information of the target vehicle.

9. A vehicle information correction device, characterized in that: include: An acquisition module is configured to acquire reference information of a target vehicle and target vehicle information of the target vehicle at a target time, wherein the target vehicle is a guide train and the reference information is a guide line path of the target vehicle; a determination module configured to determine guide line deviation information of the target vehicle based on the reference information and the target vehicle information, and determine target instantaneous change information of the target vehicle at the target moment based on the guide line deviation information, wherein the guide line deviation information indicates a deviation value between the target vehicle and the guide line path; A selection module is configured to select an auxiliary vehicle without multipath effect in the vehicle formation where the target vehicle is located, when it is determined that the target vehicle has multipath effect based on the target instantaneous change information and the instantaneous change amount interval; The correction module is configured to correct the target vehicle information based on the auxiliary vehicle information of the auxiliary vehicle.

10. A computing device comprising a memory, a processor, and a computer program or instruction stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program or instructions, the steps of the method according to any one of claims 1 to 8 are implemented.

11. A computer-readable storage medium storing a computer program or instruction, characterized in that: When the computer program or instruction is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

12. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed by a processor, the steps of the vehicle information correction method described in any one of claims 1 to 8 are implemented.

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