Vehicle longitude and latitude correction method and device, vehicle and storage medium

Abstract

The invention relates to a longitude and latitude correction method and device for a vehicle, the vehicle and a storage medium, and the method comprises the steps: obtaining the actual map data of the vehicle and the current position data collected by at least one related sensor; comparing actual map data with the current position data to obtain a comparison result, and judging whether the comparison result meets a preset longitude and latitude correction condition or not; if the comparison result meets the preset longitude and latitude correction condition, a correction value is generated according to the current position data, and the actual longitude and latitude of the vehicle are obtained based on the correction value. According to the embodiment of the invention, the lateral deviation of the vehicle in the actual map data and the current position data can be compared, and after the longitude and latitude correction condition is judged to be met, the operation of correcting the longitude and latitude of the vehicle is executed, so that the stability and smoothness of a reconstruction effect are ensured, the instantaneity of longitude and latitude correction is improved, and the accuracy of positioning is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle intelligent driving technology, and in particular to a method and device for correcting the longitude and latitude of a vehicle, a vehicle and a storage medium. Background Art

[0002] In recent years, with the rapid development of new energy vehicles and autonomous driving, in addition to the comfort and safety of car riding, good communication between people and cars has also become an indispensable and important function of autonomous driving. Therefore, real and accurate scene reconstruction is particularly important.

[0003] In autonomous driving, accurate reconstruction requires precise latitude and longitude data. However, based on the current high-precision maps that issue accurate location information, for example, when a vehicle is driving in the middle of a lane, the latitude and longitude information of the vehicle may shake slightly, resulting in unsatisfactory reconstruction results.

[0004] In related technologies, such as patent CN110308470B "Vehicle Positioning Method and Vehicle Positioning System", the longitude and latitude correction values ​​of the vehicle can be determined based on the landmarks on the road section and the heading angle and offset of the vehicle, thereby correcting the latitude and longitude information of the vehicle.

[0005] However, in the related technology, it is necessary to refer to road markers, the environment requirements are strict, the longitude and latitude correction is not timely enough, and the method for calculating the specific offset is unclear, which urgently needs to be improved. Summary of the invention

[0006] The present application provides a method, device, electronic device and storage medium for correcting the longitude and latitude of a vehicle to solve the problems in the related technology, such as the need to refer to road markers, strict environmental requirements, lack of immediacy of longitude and latitude correction, and unclear method for calculating specific offsets.

[0007] The first aspect of the present application provides a method for correcting the longitude and latitude of a vehicle, comprising the following steps: obtaining actual map data of the vehicle and current position data collected by at least one relevant sensor; comparing the actual map data and the current position data to obtain a comparison result, and determining whether the comparison result satisfies a preset longitude and latitude correction condition; and if the comparison result satisfies the preset longitude and latitude correction condition, generating a correction value according to the current position data, and obtaining the actual longitude and latitude of the vehicle based on the correction value.

[0008] According to the above-mentioned technical means, the embodiment of the present application can compare the lateral offset of the vehicle in the actual map data and the current position data, and after determining that the longitude and latitude correction conditions are met, perform the operation of correcting the longitude and latitude of the vehicle, thereby ensuring the stability and smoothness of the reconstruction effect, improving the immediacy of the longitude and latitude correction, and improving the accuracy of positioning.

[0009] Optionally, in one embodiment of the present application, the comparing the actual map data and the current position data to obtain a comparison result includes: calculating a first lane width of a lane currently located by the vehicle based on the actual map data; calculating a second lane width of a lane currently located by the vehicle based on the current position data; and calculating a lateral offset of the actual map data and the corresponding vehicle position relative to the vehicle position corresponding to the current position data based on the first lane width and the second lane width.

[0010] According to the above-mentioned technical means, the embodiment of the present application can calculate the first lane width and the second lane width of the lane where the vehicle is located according to the actual map data and the current position data of the vehicle, thereby calculating the lateral offset of the actual map data and the corresponding vehicle position relative to the vehicle position corresponding to the current position data, providing data support for the subsequent determination of whether the longitude and latitude need to be corrected and the longitude and latitude correction values, thereby improving the accuracy of the calculation.

[0011] Optionally, in one embodiment of the present application, the preset longitude and latitude correction condition is that the lateral offset is greater than a preset error threshold.

[0012] According to the above technical means, the embodiment of the present application can perform longitude and latitude correction only when the lateral offset is greater than a preset error threshold, thereby saving resources and improving the intelligence level of the vehicle.

[0013] Optionally, in one embodiment of the present application, generating the correction value based on the current position data includes: acquiring the current longitude and latitude and heading angle of the vehicle; and obtaining the correction value based on the lateral offset, the current longitude and latitude and the heading angle.

[0014] According to the above technical means, the embodiment of the present application can obtain correction values ​​according to current position data such as lateral offset, current longitude and latitude, and heading angle, thereby ensuring the accuracy of the correction result and improving the stability and smoothness of the reconstruction effect.

[0015] Optionally, in one embodiment of the present application, the correction value includes a longitude correction value and a latitude correction value, wherein the calculation formula of the longitude correction value is:

[0016] Long_out=Long_in+Lat_offset*sind(Heading_in)

[0017] Wherein, Long_out is the longitude correction value, Long_in is the longitude input value, Lat_offset is the lateral offset, and Heading_in is the heading angle;

[0018] The calculation formula of the latitude correction value is:

[0019] Lat_out=Lat_in–Lat_offset*cosd(Heading_in)

[0020] Among them, Lat_out is the latitude correction value, and Lat_in is the latitude input value.

[0021] The second aspect of the present application provides a vehicle latitude and longitude correction device, including: an acquisition module, used to acquire actual map data of the vehicle and current position data collected by at least one relevant sensor; a comparison module, used to compare the actual map data and the current position data, obtain a comparison result, and determine whether the comparison result meets the preset longitude and latitude correction condition; and a generation module, used to generate a correction value according to the current position data when the comparison result meets the preset longitude and latitude correction condition, and obtain the actual longitude and latitude of the vehicle based on the correction value.

[0022] Optionally, in one embodiment of the present application, the comparison module includes: a first calculation unit, used to calculate a first lane width of a lane in which the vehicle is currently located based on the actual map data; a second calculation unit, used to calculate a second lane width of a lane in which the vehicle is currently located based on the current position data; and a third calculation unit, used to calculate a lateral offset of the actual map data and the corresponding vehicle position relative to the vehicle position corresponding to the current position data based on the first lane width and the second lane width.

[0023] Optionally, in one embodiment of the present application, the preset longitude and latitude correction condition is that the lateral offset is greater than a preset error threshold.

[0024] Optionally, in one embodiment of the present application, the generation module includes: an acquisition unit, used to acquire the current longitude and latitude and heading angle of the vehicle; and a generation unit, used to obtain the correction value according to the lateral offset, the current longitude and latitude and the heading angle.

[0025] Optionally, in one embodiment of the present application, the correction value includes a longitude correction value and a latitude correction value, wherein the calculation formula of the longitude correction value is:

[0026] Long_out=Long_in+Lat_offset*sind(Heading_in)

[0027] Wherein, Long_out is the longitude correction value, Long_in is the longitude input value, Lat_offset is the lateral offset, and Heading_in is the heading angle;

[0028] The calculation formula of the latitude correction value is:

[0029] Lat_out=Lat_in–Lat_offset*cosd(Heading_in)

[0030] Among them, Lat_out is the latitude correction value, and Lat_in is the latitude input value.

[0031] The third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for correcting the longitude and latitude of the vehicle as described in the above embodiment.

[0032] The fourth aspect of the present application provides a computer-readable storage medium, which stores a computer program. When the program is executed by a processor, it implements the above-mentioned method for correcting the latitude and longitude of the vehicle.

[0033] Beneficial effects of the embodiments of the present application:

[0034] (1) Ensure the stability and smoothness of the reconstruction effect and improve the comfort and safety of vehicle driving;

[0035] (2) Improve the immediacy of longitude and latitude correction and enhance the interaction between people and vehicles;

[0036] (3) Save computing resources and improve the intelligence level of vehicles.

[0037] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0039] Figure 1 A flowchart of a method for correcting the longitude and latitude of a vehicle provided according to an embodiment of the present application;

[0040] Figure 2 It is a schematic diagram of the working principle of the latitude and longitude correction method of a vehicle according to an embodiment of the present application;

[0041] Figure 3 A relationship diagram of the distance between the vehicle position in the lane and the left and right lane lines and the lateral offset according to the method for correcting the longitude and latitude of the vehicle in an embodiment of the present application;

[0042] Figure 4 is an exemplary diagram of a latitude and longitude correction device for a vehicle according to an embodiment of the present application;

[0043] Figure 5 It is a schematic diagram of the structure of a vehicle according to an embodiment of the present application.

[0044] Among them: 10 - vehicle longitude and latitude correction device; 100 - acquisition module, 200 - comparison module, 300 - generation module; 501 - memory, 502 - processor, 503 - communication interface. DETAILED DESCRIPTION

[0045] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0046] The following describes the latitude and longitude correction method, device, electronic device and storage medium of the vehicle in the embodiment of the present application with reference to the accompanying drawings. In view of the problems in the related technology mentioned in the background technology center above, such as the need to refer to the road section markers, the strict requirements on the environment, the lack of immediacy of the longitude and latitude correction, and the unclear method for calculating the specific offset, the present application provides a method for correcting the longitude and latitude of a vehicle. In this method, the lateral offset of the vehicle in the actual map data and the current position data can be compared. After judging that the longitude and latitude correction conditions are met, the longitude and latitude correction operation of the vehicle is performed, thereby ensuring the stability and smoothness of the reconstruction effect, improving the immediacy of the longitude and latitude correction, and improving the accuracy of positioning. As a result, the problems in the related technology, such as the need to refer to the road section markers, the strict requirements on the environment, the lack of immediacy of the longitude and latitude correction, and the unclear method for calculating the specific offset, are solved.

[0047] Specifically, Figure 1 A schematic flow chart of a method for correcting the longitude and latitude of a vehicle provided in an embodiment of the present application.

[0048] like Figure 1 As shown, the latitude and longitude correction method of the vehicle includes the following steps:

[0049] In step S101 , actual map data of the vehicle and current position data collected by at least one relevant sensor are acquired.

[0050] It can be understood that the embodiments of the present application can obtain the vehicle's current position data such as the distance from the lane line through vehicle-mounted sensors such as visual sensors and radar sensors. The current position data can be collected using one relevant sensor, or multiple relevant sensors can be combined to make the measurement data more accurate.

[0051] For example, an embodiment of the present application can obtain the vehicle's current position data based on the vehicle's high-precision map data and at least one vehicle-mounted sensor, providing data support for subsequent judgment of longitude and latitude correction conditions and calculation of lateral offset, making the longitude and latitude correction more accurate and improving the stability and smoothness of the vehicle reconstruction effect.

[0052] It should be noted that the embodiment of the present application can simultaneously obtain the actual map data of the vehicle and the current position data collected by at least one relevant sensor, thereby providing data support for the subsequent comparison of the actual map data and the current position data.

[0053] In step S102, the actual map data and the current location data are compared to obtain a comparison result, and it is determined whether the comparison result meets the preset longitude and latitude correction conditions.

[0054] It is understandable that accurate reconstruction requires accurate latitude and longitude data support. However, based on actual map data, such as accurate location information based on high-precision maps, when the vehicle is driving in the middle of the lane, the latitude and longitude of the vehicle will slightly shake. Displaying the shaking will lead to unsatisfactory reconstruction results, so it is necessary to compare the actual map data and the current location data. When the comparison result of the actual map data and the actual value of the current location data does not meet the preset latitude and longitude correction conditions, the reconstruction effect is not much different from the actual normal effect, and the latitude and longitude correction can be omitted.

[0055] In the actual implementation process, the calculation formula for the distance between the vehicle and the right lane line of the high-precision map data and the distance value of the sensor collection data can be as follows:

[0056] △D hr =D fr / W f *W h

[0057] Among them, D fr is the distance between the vehicle and the right lane line, W h is the width of the first lane, W f The width of the second lane.

[0058] The calculation method of the first lane width and the second lane width will be described in detail below.

[0059] Optionally, in one embodiment of the present application, actual map data and current position data are compared to obtain a comparison result, including: calculating a first lane width of a lane currently located in the vehicle based on the actual map data; calculating a second lane width of a lane currently located in the vehicle based on the current position data; and calculating a lateral offset of the actual map data and the corresponding vehicle position relative to the vehicle position corresponding to the current position data based on the first lane width and the second lane width.

[0060] It is understandable that the second lane width can be obtained by collecting current position data based on the vehicle-mounted sensor.

[0061] Specifically, the embodiment of the present application can obtain the distance between the vehicle and the left lane line and the right lane line of the lane based on the actual map data of the vehicle, such as high-precision map data, and calculate the first lane width of the current lane of the vehicle, and the formula is as follows:

[0062] W h =D hl +D hr

[0063] Among them, D hl is the distance between the vehicle and the left lane line, D hr is the distance between the vehicle and the right lane line.

[0064] The embodiment of the present application can collect current position data based on the vehicle-mounted sensor to obtain the distance between the vehicle and the left lane line and the right lane line of the lane, so as to calculate the second lane width of the current lane of the vehicle. The formula is as follows:

[0065] W f =D fl +D fr

[0066] Among them, D fl is the distance between the vehicle and the left lane line, D fr is the distance between the vehicle and the right lane line.

[0067] Furthermore, the embodiment of the present application can calculate the lateral offset of the actual map data and the vehicle position relative to the vehicle position corresponding to the current position data according to the first lane width and the second lane width, wherein the specific calculation formula of the lateral offset is as follows:

[0068] Lat_offset = D hr -△D hr

[0069] Among them, D hr is the distance between the vehicle and the right lane line under high-precision map data, D hr It is the distance between the vehicle and the right lane line in the high-precision map data relative to the distance value of the sensor collected data.

[0070] Optionally, in one embodiment of the present application, the preset longitude and latitude correction condition is that the lateral offset is greater than a preset error threshold.

[0071] It is understandable that the preset error threshold takes into account factors including that, when the error is too small, the reconstructed effect is not much different from the actual normal effect; secondly, not performing subsequent correction algorithms within the allowable error range can reduce CPU (Central Processing Unit) resources to a certain extent and improve resource utilization.

[0072] In the actual implementation process, the embodiment of the present application can calculate the relative distance value between the vehicle and the right lane line of the high-precision map data and the sensor collection data and the actual value of the high-precision map data. When the difference exceeds 0.2M, that is, |D hr -△D hr |≥0.2, it is determined that the preset longitude and latitude correction conditions are met and subsequent longitude and latitude correction is required, otherwise the longitude and latitude are not corrected.

[0073] The embodiment of the present application can correct the longitude and latitude when the lateral offset is greater than a preset error threshold, thereby improving resource utilization and ensuring the stability and smoothness of the reconstruction effect.

[0074] In step S103, if the comparison result meets the preset longitude and latitude correction condition, a correction value is generated according to the current position data, and the actual longitude and latitude of the vehicle is obtained based on the correction value.

[0075] Specifically, after the comparison result meets the preset longitude and latitude correction conditions, the embodiment of the present application can generate a correction value based on the vehicle's current position data, such as the vehicle's current longitude and latitude and heading angle, thereby obtaining the vehicle's actual longitude and latitude, improving the vehicle's intelligence and achieving stability and smoothness of the reconstruction effect.

[0076] Optionally, in one embodiment of the present application, generating a correction value based on current position data includes: acquiring the current longitude and latitude and heading angle of the vehicle; and obtaining a correction value based on the lateral offset, the current longitude and latitude and heading angle.

[0077] In the actual implementation process, the embodiment of the present application can periodically obtain the vehicle's current longitude and latitude and heading angle input information through the vehicle-mounted positioning module, and obtain longitude and latitude correction values ​​based on the lateral offset, current longitude and latitude and heading angle.

[0078] The latitude and longitude correction algorithm will be described in detail below.

[0079] Optionally, in one embodiment of the present application, the correction value includes a longitude correction value and a latitude correction value, wherein the calculation formula of the longitude correction value is:

[0080] Long_out=Long_in+Lat_offset*sind(Heading_in)

[0081] Among them, Long_out is the longitude correction value, Long_in is the longitude input value, Lat_offset is the lateral offset, and Heading_in is the heading angle;

[0082] The calculation formula of the latitude correction value is:

[0083] Lat_out=Lat_in–Lat_offset*cosd(Heading_in)

[0084] Among them, Lat_out is the latitude correction value, and Lat_in is the latitude input value.

[0085] It can be understood that the reason why the sind and cosd functions are used instead of the sin and cos functions in the longitude and latitude correction algorithm of the embodiment of the present application is that when using sin and cos, degrees need to be converted into radians, and the sind and cosd functions represent the sine and cosine of the parameters in degrees, so there is no need to convert the heading angle from degrees to radians.

[0086] Combination Figures 2 to 3 As shown, the working principle of the latitude and longitude correction method of the vehicle in the embodiment of the present application is described in detail with an embodiment. Among them, the specific steps of the latitude and longitude correction method of the vehicle in the embodiment of the present application are as follows Figure 2 shown.

[0087] Step S201: Obtain the distance between the vehicle and the left and right lane lines on the high-precision map.

[0088] For example, the embodiment of the present application can obtain the distance between the vehicle and the left lane line and the right lane line of the lane based on the high-precision map data, and calculate the width of the lane under the high-precision map, and the formula is as follows:

[0089] W h =D hl +D hr

[0090] Among them, D hl is the distance between the vehicle and the left lane line, D hr is the distance between the vehicle and the right lane line.

[0091] Step S202: Obtain the distance between the sensor vehicle and the left and right lane lines.

[0092] Specifically, the embodiment of the present application can obtain the distance between the vehicle and the left lane line and the right lane line of the lane based on the sensor collection data, and calculate the lane width under the sensor collection data, and the formula is as follows:

[0093] Wf =D fl +D fr

[0094] Among them, D fl is the distance between the vehicle and the left lane line, D fr is the distance between the vehicle and the right lane line.

[0095] Step S203: Calculate the lateral offset of the vehicle position in the high-precision map data relative to the vehicle position in the sensor-collected data.

[0096] In the actual implementation process, the embodiment of the present application can calculate the lateral offset of the vehicle position of the high-precision map data relative to the vehicle position of the sensor collection data based on the results of step S201 and step S202. The specific calculation is as follows:

[0097] S1: The embodiment of the present application can calculate the distance between the vehicle and the right lane line in the high-precision map data relative to the distance value of the sensor collected data, wherein the calculation formula is as follows:

[0098] △D hr =D fr / W f *W h

[0099] Among them, D fr is the distance between the vehicle and the right lane line, W h is the width of the first lane, W f The width of the second lane.

[0100] S2: When the difference between the relative distance value calculated by S1 and the actual value of the high-precision map data exceeds 0.2M, that is, |D hr -△D hr |≥0.2, it is determined that the preset longitude and latitude correction condition is met, and the embodiment of the present application can perform subsequent longitude and latitude correction, otherwise the longitude and latitude are not corrected.

[0101] It is understandable that the reason why the embodiment of the present application allows for an error range is to take into account the following two aspects:

[0102] (1) The difference is within 0.2M, and the reconstructed effect is not much different from the actual normal effect;

[0103] (2) Not performing subsequent correction algorithms within the allowable error range can reduce CPU resources to a certain extent.

[0104] The specific calculation formula of the lateral offset is as follows:

[0105] Lat_offset = D hr -△D hr

[0106] Among them, D hr is the distance between the vehicle and the right lane line under high-precision map data, D hr It is the distance between the vehicle and the right lane line in the high-precision map data relative to the distance value of the sensor collected data.

[0107] Step S204: Obtain the current latitude, longitude and heading angle input information of the vehicle.

[0108] Specifically, the embodiment of the present application can periodically obtain the vehicle's current latitude, longitude and heading angle input information through the positioning module.

[0109] Step S205: Calculate the corrected longitude and latitude.

[0110] During the actual implementation process, the embodiments of the present application can generate correction values ​​based on current position data such as the vehicle's current longitude and latitude, heading angle, and lateral offset, thereby obtaining the vehicle's actual longitude and latitude based on the correction values.

[0111] The calculation formula for the longitude correction value is:

[0112] Long_out=Long_in+Lat_offset*sind(Heading_in)

[0113] Among them, Long_out is the longitude correction value, Long_in is the longitude input value, Lat_offset is the lateral offset, and Heading_in is the heading angle;

[0114] The calculation formula of the latitude correction value is:

[0115] Lat_out=Lat_in–Lat_offset*cosd(Heading_in)

[0116] Among them, Lat_out is the latitude correction value, and Lat_in is the latitude input value.

[0117] It can be understood that the reason why the sind and cosd functions are used instead of the sin and cos functions in the longitude and latitude correction algorithm of the embodiment of the present application is that when using sin and cos, degrees need to be converted into radians, and the sind and cosd functions represent the sine and cosine of the parameters in degrees, so there is no need to convert the heading angle from degrees to radians.

[0118] in, Figure 3 This is a diagram showing the relationship between the vehicle's position in the lane and the distance between the left and right lane lines and the lateral offset.

[0119] According to the vehicle latitude and longitude correction method proposed in the embodiment of the present application, the lateral offset of the vehicle in the actual map data and the current position data can be compared, and after judging that the latitude and longitude correction conditions are met, the latitude and longitude correction operation of the vehicle is performed, thereby ensuring the stability and smoothness of the reconstruction effect, improving the immediacy of the latitude and longitude correction, and improving the accuracy of positioning. Therefore, the problems in the related technology such as the need to refer to road section landmarks, strict requirements on the environment, insufficient immediacy of latitude and longitude correction, and unclear methods for calculating specific offsets are solved.

[0120] Next, the latitude and longitude correction device for a vehicle proposed in accordance with an embodiment of the present application will be described with reference to the accompanying drawings.

[0121] Figure 4 It is a block diagram of a latitude and longitude correction device for a vehicle according to an embodiment of the present application.

[0122] like Figure 4 As shown, the vehicle latitude and longitude correction device 10 includes: an acquisition module 100 , a comparison module 200 and a generation module 300 .

[0123] The acquisition module 100 is used to acquire the actual map data of the vehicle and the current position data collected by at least one relevant sensor.

[0124] The comparison module 200 is used to compare the actual map data with the current location data, obtain a comparison result, and determine whether the comparison result meets the preset longitude and latitude correction conditions.

[0125] The generating module 300 is used to generate a correction value according to the current position data when the comparison result meets the preset longitude and latitude correction condition, and obtain the actual longitude and latitude of the vehicle based on the correction value.

[0126] Optionally, in one embodiment of the present application, the comparison module 200 includes: a first calculation unit, a second calculation unit and a third calculation unit.

[0127] The first calculation unit is used to calculate the first lane width of the current lane of the vehicle according to the actual map data;

[0128] A second calculation unit, used for calculating a second lane width of a lane currently located by the vehicle according to the current position data;

[0129] The third calculation unit is used to calculate the lateral offset of the actual map data and the corresponding vehicle position relative to the vehicle position corresponding to the current position data according to the first lane width and the second lane width.

[0130] Optionally, in one embodiment of the present application, the preset longitude and latitude correction condition is that the lateral offset is greater than a preset error threshold.

[0131] Optionally, in one embodiment of the present application, the generation module 300 includes: an acquisition unit and a generation unit.

[0132] The acquisition unit is used to acquire the current latitude, longitude and heading angle of the vehicle.

[0133] The generating unit is used to obtain a correction value according to the lateral offset, the current longitude and latitude, and the heading angle.

[0134] Optionally, in one embodiment of the present application, the correction value includes a longitude correction value and a latitude correction value, wherein the calculation formula of the longitude correction value is:

[0135] Long_out=Long_in+Lat_offset*sind(Heading_in)

[0136] Among them, Long_out is the longitude correction value, Long_in is the longitude input value, Lat_offset is the lateral offset, and Heading_in is the heading angle;

[0137] The calculation formula of the latitude correction value is:

[0138] Lat_out=Lat_in–Lat_offset*cosd(Heading_in)

[0139] Among them, Lat_out is the latitude correction value, and Lat_in is the latitude input value.

[0140] It should be noted that the above explanation of the embodiment of the method for correcting the latitude and longitude of a vehicle is also applicable to the latitude and longitude correction device for the vehicle in this embodiment, and will not be repeated here.

[0141] According to the vehicle latitude and longitude correction device proposed in the embodiment of the present application, the lateral offset of the vehicle in the actual map data and the current position data can be compared, and after judging that the latitude and longitude correction conditions are met, the latitude and longitude correction operation of the vehicle is performed, thereby ensuring the stability and smoothness of the reconstruction effect, improving the immediacy of the latitude and longitude correction, and improving the accuracy of positioning. Therefore, the problems in the related technology such as the need to refer to road section landmarks, strict requirements on the environment, insufficient immediacy of latitude and longitude correction, and unclear methods for calculating specific offsets are solved.

[0142] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0143] A memory 501 , a processor 502 , and a computer program stored in the memory 501 and executable on the processor 502 .

[0144] When the processor 502 executes the program, the method for correcting the longitude and latitude of the vehicle provided in the above embodiment is implemented.

[0145] Furthermore, the vehicle also includes:

[0146] The communication interface 503 is used for communication between the memory 501 and the processor 502 .

[0147] The memory 501 is used to store computer programs that can be executed on the processor 502 .

[0148] The memory 501 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0149] If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0150] Optionally, in a specific implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 can communicate with each other through an internal interface.

[0151] The processor 502 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0152] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned method for correcting the latitude and longitude of a vehicle.

[0153] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0154] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0155] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application 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 reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0156] 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, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0157] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0158] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0159] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0160] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for correcting the latitude and longitude of a vehicle, characterized in that: The following steps are involved: Acquire actual map data of the vehicle and current position data collected by at least one relevant sensor; Comparing the actual map data with the current location data to obtain a comparison result, and determining whether the comparison result satisfies a preset latitude and longitude correction condition; as well as If the comparison result satisfies the preset longitude and latitude correction condition, a correction value is generated according to the current position data, and the actual longitude and latitude of the vehicle is obtained based on the correction value.

2. The method according to claim 1, characterized in that: The comparing the actual map data with the current location data to obtain a comparison result includes: Calculating a first lane width of a lane currently located by the vehicle according to the actual map data; Calculating a second lane width of a lane currently located by the vehicle according to the current position data; A lateral offset of the actual map data and the corresponding vehicle position relative to the vehicle position corresponding to the current position data is calculated based on the first lane width and the second lane width.

3. The method according to claim 2, characterized in that The preset longitude and latitude correction condition is that the lateral offset is greater than a preset error threshold.

4. The method according to claim 2, characterized in that: The generating of the correction value according to the current position data comprises: Obtaining the current latitude, longitude and heading angle of the vehicle; The correction value is obtained according to the lateral offset, the current longitude and latitude, and the heading angle.

5. The method according to claim 4, characterized in that The correction value includes a longitude correction value and a latitude correction value, wherein: The calculation formula of the longitude correction value is: Long_out=Long_in+Lat_offset*sind(Heading_in) Wherein, Long_out is the longitude correction value, Long_in is the longitude input value, Lat_offset is the lateral offset, and Heading_in is the heading angle; The calculation formula of the latitude correction value is: Lat_out=Lat_in–Lat_offset*cosd(Heading_in) Among them, Lat_out is the latitude correction value, and Lat_in is the latitude input value.

6. A vehicle latitude and longitude correction device, characterized in that: include: An acquisition module, used to acquire actual map data of the vehicle and current position data collected by at least one relevant sensor; A comparison module, used for comparing the actual map data with the current location data, obtaining a comparison result, and determining whether the comparison result satisfies a preset latitude and longitude correction condition; as well as A correction module is used to generate a correction value according to the current position data when the comparison result meets the preset longitude and latitude correction condition, and obtain the actual longitude and latitude of the vehicle based on the correction value.

7. The device according to claim 6, characterized in that The comparison module comprises: A first calculation unit, configured to calculate a first lane width of a lane in which the vehicle is currently located according to the actual map data; A second calculation unit, configured to calculate a second lane width of a lane in which the vehicle is currently located according to the current position data; The third calculation unit is used to calculate the lateral offset of the actual map data and the corresponding vehicle position relative to the vehicle position corresponding to the current position data according to the first lane width and the second lane width.

8. The device according to claim 6, characterized in that The preset latitude and longitude correction condition is that the lateral offset is greater than a preset error threshold.

9. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for correcting the latitude and longitude of a vehicle as described in any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the method for correcting the longitude and latitude of a vehicle as described in any one of claims 1 to 5.

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