Deviation correction method and device for vehicle-mounted positioning and computer readable storage medium

Abstract

The embodiment of the invention relates to the technical field of map positioning, and discloses a vehicle-mounted positioning deviation correction method and device and a computer readable storage medium, and the method comprises the steps: carrying out the feature extraction of an environment image if the environment image of which the image type is an exit type is obtained, and obtaining a current exit feature corresponding to a current exit; querying in a reference position set based on the current exit feature to obtain reference position information corresponding to the current exit feature; the reference position set comprises reference position information corresponding to a plurality of exit features, and the reference position information is determined based on driving data and positioning information after the vehicle is driven out of the exit; and taking the reference position information corresponding to the current exit feature as the positioning information of the current exit. Thus, the reference position information inquired from the reference position set is used as the positioning information of the current exit for positioning deviation correction, the positioning accuracy of the current exit can be improved, and the use experience of a user on vehicle positioning is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of map positioning technology, and in particular to a deviation correction method and device for vehicle-mounted positioning, and a computer-readable storage medium. Background Art

[0002] Since there is no GPS signal in the underground parking garage, the vehicle can only calculate its position based on the on-board sensor data through inertial navigation technology when driving out of the underground parking garage. However, this calculation method will cause large errors as time goes by, resulting in map positioning drift. The on-board map cannot accurately locate and display the vehicle's position, resulting in a poor user experience. Summary of the invention

[0003] In view of the above problems, an embodiment of the present invention provides a vehicle-mounted positioning correction method, device and computer-readable storage medium, which are used to solve the problem in the prior art that the vehicle-mounted map cannot accurately locate and display the vehicle position when the vehicle exits an underground parking garage, resulting in a poor user experience.

[0004] According to one aspect of an embodiment of the present invention, a deviation correction method for vehicle-mounted positioning is provided, the method comprising:

[0005] If the environment image of the image type is an exit type, feature extraction is performed on the environment image to obtain the current exit feature corresponding to the current exit; the current exit feature is used to identify the current exit;

[0006] Based on the current exit feature, query in the reference position set to obtain reference position information corresponding to the current exit feature; the reference position set includes reference position information corresponding to multiple exit features, and the reference position information is determined based on the driving data and positioning information of the vehicle after exiting the exit;

[0007] The reference position information corresponding to the current exit feature is used as the positioning information of the current exit.

[0008] In an optional embodiment, the method further includes:

[0009] Acquire the driving data of the current vehicle after it exits the current exit, and determine the relative position information of the current vehicle based on the driving data; the relative position information is the position information of the current vehicle relative to the current exit;

[0010] If the current vehicle positioning information is obtained, the reference position information corresponding to the current exit feature is determined based on the positioning information and the relative position information.

[0011] In an optional implementation, determining the relative position information of the current vehicle based on the driving data includes:

[0012] The current exit position is taken as the starting point;

[0013] Integrate the acceleration data in the driving data to obtain the relative displacement of the current vehicle relative to the starting point of the position;

[0014] Integrate the angular velocity data in the driving data to obtain the relative direction of the current vehicle relative to the starting point of the position;

[0015] Based on the relative displacement and relative direction, relative position information is determined.

[0016] In an optional implementation, the positioning information includes the longitude information and latitude information of the current vehicle; the relative position information includes the relative longitude position and relative latitude position of the current vehicle relative to the current exit;

[0017] Based on the positioning information and the relative position information, the reference position information corresponding to the current exit feature is determined, including:

[0018] Subtract the longitude information from the relative longitude position to obtain the reference longitude information corresponding to the current exit;

[0019] Subtract the latitude information from the relative latitude position to obtain the reference latitude information corresponding to the current exit;

[0020] Based on the reference longitude information and the reference latitude information, reference position information is determined.

[0021] In an optional embodiment, the method further includes:

[0022] Associating the reference position information corresponding to the current export feature with the current export feature and storing it in the reference position set;

[0023] A plurality of reference position information corresponding to the current exit feature in the reference position set is obtained, and data statistics are performed on the plurality of reference position information to update the reference position information corresponding to the current exit feature.

[0024] In an optional implementation, data statistics are performed on a plurality of reference position information to update the reference position information corresponding to the current export feature, including:

[0025] Removing reference position information exceeding a preset deviation range from the plurality of reference position information to obtain filtered reference position information;

[0026] The filtered reference position information is averaged to update the reference position information.

[0027] In an optional embodiment, the method further includes:

[0028] Get the current vehicle's environment image;

[0029] Perform image recognition on the environment image to determine the image type of the environment image.

[0030] According to another aspect of an embodiment of the present invention, a deviation correction device for vehicle-mounted positioning is provided, the device comprising:

[0031] A feature extraction module is used to extract features from the environment image if the image type is an exit type, and obtain the current exit feature corresponding to the current exit; the current exit feature is used to identify the current exit;

[0032] A reference position acquisition module is used to query in a reference position set based on the current exit feature to obtain reference position information corresponding to the current exit feature; the reference position set includes reference position information corresponding to multiple exit features, and the reference position information is determined based on the driving data and positioning information of the vehicle after it exits the exit;

[0033] The positioning and deviation correction module is used to use the reference position information corresponding to the current exit feature as the positioning information of the current exit.

[0034] According to another aspect of an embodiment of the present invention, there is provided a vehicle-mounted terminal, comprising: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus;

[0035] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute any operation of the vehicle-mounted positioning correction method as described above.

[0036] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, in which at least one executable instruction is stored. When the executable instruction is run on a vehicle-mounted positioning correction device / vehicle-mounted terminal, the vehicle-mounted positioning correction device / vehicle-mounted terminal performs the operation of any of the vehicle-mounted positioning correction methods described above.

[0037] The embodiment of the present invention recognizes the environmental image of the current vehicle, and when the image type is identified as an environmental image of an exit type, performs feature extraction on the environmental image to obtain current exit features corresponding to the current exit, and based on the current exit features, queries the reference position information corresponding to the current exit features in the reference position set, and the reference position information in the reference position set is determined by the driving data and positioning information of the vehicle after exiting the exit, and is calculated based on the historical driving data of the vehicle, and has a high accuracy rate; the reference position information queried from the reference position set is used as the positioning information of the current exit to perform positioning correction, which can improve the positioning accuracy of the current exit and improve the user experience of vehicle-mounted positioning.

[0038] The above description is only an overview of the technical solution of the embodiment of the present invention. In order to more clearly understand the technical means of the embodiment of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0040] Figure 1 It is a flow chart of a deviation correction method for vehicle-mounted positioning provided by an embodiment of the present invention;

[0041] Figure 2 It is a schematic diagram of a flow chart of determining reference position information in a deviation correction method for vehicle-mounted positioning provided by an embodiment of the present invention;

[0042] Figure 3 It is a schematic diagram of a process for determining relative position information in a deviation correction method for vehicle-mounted positioning provided by an embodiment of the present invention;

[0043] Figure 4 It is a schematic diagram of a flow chart of determining exit position information in a vehicle-mounted positioning correction method provided by an embodiment of the present invention;

[0044] Figure 5 It is a schematic diagram of a flow chart of updating exit position information in a deviation correction method for vehicle-mounted positioning provided by an embodiment of the present invention;

[0045] Figure 6 It is a structural schematic diagram of an embodiment of a vehicle-mounted positioning correction device provided by an embodiment of the present invention;

[0046] Figure 7 It is a schematic diagram of the structure of an embodiment of a vehicle-mounted terminal provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0047] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0048] Since there is no GPS signal in the underground parking garage, the vehicle can only calculate its position based on the on-board sensor data through inertial navigation technology when driving out of the underground parking garage. However, this calculation method will cause large errors as time goes by, resulting in map positioning drift. The on-board map cannot accurately locate and display the vehicle's position, resulting in a poor user experience.

[0049] Based on this, an embodiment of the present invention provides a method for correcting vehicle-mounted positioning, by identifying the environmental image of the current vehicle. When the image type is identified as an environmental image of an exit type, feature extraction is performed on the environmental image to obtain the current exit feature corresponding to the current exit, and based on the current exit feature, the reference position information corresponding to the current exit feature is queried in the reference position set, and the reference position information in the reference position set is determined by the driving data and positioning information of the vehicle after exiting the exit, and is calculated based on the historical driving data of the vehicle, with a high accuracy rate; the reference position information queried from the reference position set is used as the positioning information of the current exit for positioning correction, which can improve the positioning accuracy of the current exit and improve the user experience of vehicle-mounted positioning.

[0050] The following describes a specific embodiment of a vehicle-mounted positioning correction method of the present invention. Figure 1 It is a flowchart of a correction method for vehicle-mounted positioning provided by an embodiment of the present invention. This specification provides method operation steps such as the embodiment or flowchart, but may include more or fewer operation steps based on conventional or non-creative labor. The order of steps listed in the embodiment is only one way of executing the steps among many orders, and does not represent the only order of execution. When the actual system or server product is executed, it can be executed in sequence or in parallel (for example, in a parallel processor or multi-threaded processing environment) according to the embodiment or the method shown in the accompanying drawings. Specifically, Figure 1 As shown, the method may include:

[0051] Step 110: If the acquired environment image is of an exit type, feature extraction is performed on the environment image to obtain a current exit feature corresponding to the current exit.

[0052] In the embodiment of the present invention, the environmental image is captured by a camera installed on the current vehicle. The environmental image with the image type of exit type indicates that the current vehicle has exited the exit of a certain building. The building can be any building with an exit, such as a parking lot, etc., and is not limited here. If the environmental image with the image type of exit type is obtained, it indicates that the current vehicle has exited the building exit. The current vehicle may not be able to obtain the GPS signal or the GPS signal is weak. At this time, the positioning of the current vehicle by the on-board map will drift or disappear. Therefore, the on-board positioning can be corrected at this time to avoid the current positioning signal obtained by GPS being inaccurate or unable to obtain the positioning signal.

[0053] In an embodiment of the present invention, feature extraction is performed on the environment image, and features corresponding to the exit contained in the link image are extracted to obtain current exit features corresponding to the current exit, wherein the current exit features are used to identify the current exit, so that the current location information corresponding to the current exit can be associated with the current exit through the current exit features in the subsequent process.

[0054] In an optional implementation, after acquiring the environment image of the current vehicle, the current vehicle performs image recognition on the environment image to determine the image type of the environment image. Image recognition and classification of the environment image can be based on methods such as deep learning, and no specific restrictions are made here. Optionally, the image type of the environment image can be simply defined as an exit type and a non-exit type to improve the efficiency of image recognition of the environment image.

[0055] In an optional implementation, when the image type of the environmental image is an exit type, the strength of the GPS signal is determined at the same time. When the signal strength of the GPS signal is lower than a certain threshold, feature extraction is performed on the environmental image to obtain a current exit feature corresponding to the current exit.

[0056] Step 120: Based on the current exit feature, query in the reference position set to obtain reference position information corresponding to the current exit feature.

[0057] In an embodiment of the present invention, the reference position set includes reference position information corresponding to multiple exit features. The reference position information is determined based on the driving data and positioning information of the vehicle after exiting the exit, that is, the exit position information calculated based on the vehicle's historical driving data and positioning information.

[0058] In the embodiment of the present invention, each reference position information in the reference position set is associated with an exit feature, and the current exit feature is matched with the exit feature associated with the reference position information in the reference position set to query whether there is reference position information corresponding to the current exit feature in the reference position set. If the exit feature associated with the reference position information in the reference position set contains an exit feature that matches the current exit feature, it indicates that the reference position information corresponding to the current exit feature has been stored. At this time, the reference position information corresponding to the exit feature can be directly obtained from the reference position set, that is, the reference position information corresponding to the current exit feature.

[0059] In an optional embodiment, the reference position set includes reference position information corresponding to all exit features identified and extracted by the current vehicle or other vehicles. The exit features identified and extracted by other vehicles and the corresponding reference position information can be synchronized to the current vehicle via the cloud.

[0060] Step 130: Use the reference position information corresponding to the current exit feature as the positioning information of the current exit.

[0061] In an embodiment of the present invention, the reference position information corresponding to the current exit feature is obtained as the positioning information of the current exit, so as to correct the positioning of the current exit in the vehicle map, so as to improve the positioning accuracy of the vehicle map and improve the user experience of vehicle positioning.

[0062] In an optional implementation, if the exit features associated with the reference location information in the reference location set contain exit features that match the current exit features, that is, the reference location information corresponding to the current exit features cannot be found in the reference location set, then this indicates that this is the first time passing through the current exit, and therefore it is necessary to obtain the driving data and GPS of the current vehicle after exiting the current exit, and to correct the positioning information of the current exit through the positioning information of the current vehicle. At the same time, in order to ensure the accuracy and reliability of the reference location information in the reference location set, when the reference location information corresponding to the current exit features exists in the reference location set, the driving data of the current vehicle and the positioning information of the current vehicle by GPS can also be obtained to further enrich the reference location information corresponding to the current exit features. Specifically, Figure 2 FIG. 1 is a flow chart of determining reference position information in a deviation correction method for vehicle-mounted positioning provided by an embodiment of the present invention. Figure 2 As shown, the deviation correction method for vehicle-mounted positioning according to the embodiment of the present invention may further include the following steps:

[0063] Step 210: Acquire the driving data of the current vehicle after it exits the current exit, and determine the relative position information of the current vehicle based on the driving data.

[0064] In the embodiment of the present invention, the driving data and GPS of the current vehicle are obtained, and the reference position information is determined by the positioning information of the current vehicle to correct the positioning information of the current exit and update the reference position information.

[0065] In an embodiment of the present invention, the relative position information is the position information of the current vehicle relative to the current exit, which is obtained by inertial navigation calculation based on the driving data of the current vehicle. The relative position information will be updated in real time according to the driving data of the current vehicle. The driving data of the current vehicle is obtained by sensors installed in the current vehicle, specifically, by an inertial navigation system in the current vehicle. The inertial navigation system of the current vehicle includes at least three orthogonal gyroscopes and three orthogonal accelerometers.

[0066] Step 220: If the current vehicle positioning information is obtained, the reference position information corresponding to the current exit feature is determined based on the positioning information and the relative position information.

[0067] In an embodiment of the present invention, if the positioning information of the current vehicle is obtained, it indicates that the current vehicle has left the current exit for a certain distance and can obtain a relatively stable GPS signal. At this time, the position information of the current exit can be reversely calculated based on the obtained positioning information and the relative position information updated in real time, that is, the reference position information corresponding to the current exit characteristics.

[0068] In an optional embodiment, Figure 3 FIG. 1 is a flow chart of determining relative position information in a deviation correction method for vehicle-mounted positioning provided by an embodiment of the present invention. Figure 3 As shown, in the above step 210, determining the relative position information of the current vehicle based on the driving data may include the following steps:

[0069] Step 310: The current exit position is used as the position starting point.

[0070] In the embodiment of the present invention, the position of the current exit is taken as the position starting point, that is, as the zero point, and the position of the current vehicle is calculated on this basis.

[0071] In an optional implementation, while the position of the current exit is used as the position starting point, information such as the speed, direction, and height of the current vehicle at the current exit is also used as initial information.

[0072] Step 320: Integrate the acceleration data in the driving data to obtain the relative displacement of the current vehicle relative to the starting point of the position.

[0073] In the embodiment of the present invention, the acceleration data is the data acquired by three orthogonal accelerometers in the navigation system. The three orthogonal accelerometers respectively collect the acceleration in the x-axis, y-axis and z-axis directions, and take the position starting point as the reference, perform an integration process on the collected acceleration in the three directions to obtain the speed information of the current vehicle relative to the position starting point, and then perform a second integration process to obtain the relative displacement of the current vehicle relative to the position starting point. Specifically, the acceleration in the three directions is integrated respectively to obtain the relative displacement of the current vehicle in the three directions relative to the position starting point.

[0074] Step 330: Integrate the angular velocity data in the driving data to obtain the relative direction of the current vehicle relative to the starting point of the position.

[0075] In an embodiment of the present invention, the angular velocity data is data acquired by three orthogonal gyroscopes in the navigation system. The three orthogonal gyroscopes respectively collect the angular velocities in the x-axis, y-axis and z-axis directions, and integrate the collected angular velocities in the three directions with the position starting point as the reference to obtain the relative direction of the current vehicle relative to the position starting point. Specifically, the angular velocities in the three directions are integrated to obtain the rotation angles of the current vehicle in the three directions relative to the position starting point, that is, the angular offsets of the current vehicle in the three directions relative to the position starting point, that is, the relative direction.

[0076] Step 340: Determine relative position information based on the relative displacement and the relative direction.

[0077] In the embodiment of the present invention, the relative displacements and relative directions in three directions are fused to determine the relative position information.

[0078] In an optional implementation, the positioning information is acquired by a GPS signal, which includes the longitude and latitude information of the current vehicle. Correspondingly, the relative position information also includes the relative longitude and latitude position of the current vehicle relative to the current exit. Figure 4 FIG. 1 is a flow chart of determining exit position information in a vehicle-mounted positioning correction method provided by an embodiment of the present invention. Figure 4 As shown, the above step 220: determining the reference position information corresponding to the current exit feature based on the positioning information and the relative position information may include the following steps:

[0079] Step 410: Subtract the longitude information from the relative longitude position to obtain reference longitude information corresponding to the current exit.

[0080] In the embodiment of the present invention, the relative longitude position is the offset of the longitude position of the current vehicle relative to the current exit. By subtracting the longitude information from the relative longitude position, the reference longitude information corresponding to the current exit can be obtained.

[0081] Step 420: Subtract the latitude information from the relative latitude position to obtain the reference latitude information corresponding to the current exit.

[0082] In the embodiment of the present invention, the relative latitude position is the offset of the latitude position of the current vehicle relative to the current exit. By subtracting the latitude information from the relative latitude position, the reference latitude information corresponding to the current exit can be obtained.

[0083] In the embodiment of the present invention, since the location where the GPS signal is restored is often not far from the location of the exit, more accurate reference longitude information and reference latitude information can be obtained only by the addition and subtraction fusion method, that is, the method of subtracting the two locations in the above steps 410 and 420.

[0084] In an optional implementation, in order to improve the accuracy of the obtained reference latitude information and reference longitude information, the relative position information and positioning information may be converted and processed through matrix inverse operation and error elimination algorithm.

[0085] Step 430: Determine reference location information based on the reference longitude information and the reference latitude information.

[0086] In the embodiment of the present invention, the reference longitude information and the reference latitude information are combined to obtain the reference position information corresponding to the current exit feature.

[0087] In an optional embodiment, the reference position information may also include reference height information corresponding to the current outlet feature, which may be Figure 3 In the illustrated embodiment, when the relative position information corresponding to the current exit feature is determined, its relative height information is also determined, and then the height in the positioning information obtained from the GPS signal is subtracted from the relative height information to obtain the reference height information corresponding to the current exit feature.

[0088] In an optional embodiment, Figure 5 FIG. 1 is a flow chart of updating exit position information in a vehicle-mounted positioning correction method provided by an embodiment of the present invention. Figure 5 As shown, the vehicle-mounted positioning correction method provided in the embodiment of the present invention may also include the following steps:

[0089] Step 510: Associating the reference position information corresponding to the current outlet feature with the current outlet feature and storing them in a reference position set.

[0090] In the embodiment of the present invention, the current exit feature is used as the label of the current exit, and the reference position information is associated with the current exit feature and stored in the reference position set. If the current vehicle or other vehicles exit from the current exit, the reference position information of the current exit will also be obtained, and accordingly, the obtained reference position information will also be associated with the current exit feature and stored in the reference position set. In other words, there can be multiple reference position information associated with the current exit feature, and thus data statistical analysis can be further performed based on the associated multiple reference position information to improve the accuracy of the reference positioning information finally used.

[0091] Step 520: Acquire multiple reference position information corresponding to the current exit feature in the reference position set, and perform data statistics on the multiple reference position information to update the reference position information corresponding to the current exit feature.

[0092] In an embodiment of the present invention, if the current exit feature corresponds to multiple reference position information, the multiple reference position information corresponding to the current exit feature is obtained, and data statistics are performed on the multiple reference position information; specifically, the reference position information that exceeds a preset deviation range is first removed from the multiple reference position information to obtain filtered reference position information, thereby removing the reference position information with a large deviation; then, the filtered reference position information is averaged to update the reference position information, thereby improving the accuracy of the reference position information.

[0093] The vehicle-mounted positioning correction method provided by the embodiment of the present invention recognizes the environmental image of the current vehicle. When the image type is recognized as an environmental image of an exit type, feature extraction is performed on the environmental image to obtain the current exit feature corresponding to the current exit, and based on the current exit feature, the reference position information corresponding to the current exit feature is queried in the reference position set. The reference position information in the reference position set is determined by the driving data and positioning information of the vehicle after exiting the exit, and is calculated based on the historical driving data of the vehicle, with a high accuracy rate. The reference position information queried from the reference position set is used as the positioning information of the current exit for positioning correction, which can improve the positioning accuracy of the current exit and improve the user experience of vehicle-mounted positioning.

[0094] The embodiment of the present invention also provides a vehicle-mounted positioning correction device, Figure 6 is a schematic diagram of the structure of an embodiment of a vehicle-mounted positioning correction device provided by an embodiment of the present invention, such as Figure 6 As shown, the device 600 includes:

[0095] The feature extraction module 610 is used to extract features from the environment image if the image type is an exit type, and obtain the current exit feature corresponding to the current exit; the current exit feature is used to identify the current exit;

[0096] The reference position acquisition module 620 is used to query the reference position set based on the current exit feature to obtain the reference position information corresponding to the current exit feature; the reference position set includes reference position information corresponding to multiple exit features, and the reference position information is determined based on the driving data and positioning information of the vehicle after it exits the exit;

[0097] The positioning and deviation correction module 630 is used to use the reference position information corresponding to the current exit feature as the positioning information of the current exit.

[0098] In an optional embodiment, the device further comprises:

[0099] A relative position determination module is used to obtain the driving data of the current vehicle after it exits the current exit, and determine the relative position information of the current vehicle based on the driving data; the relative position information is the position information of the current vehicle relative to the current exit;

[0100] The reference position determination module is used to determine the reference position information corresponding to the current exit feature based on the positioning information and relative position information if the positioning information of the current vehicle is obtained.

[0101] In an optional implementation, the relative position determination module includes:

[0102] A starting point determination unit, used to take the position of the current exit as the position starting point;

[0103] A relative displacement determination unit is used to integrate the acceleration data in the driving data to obtain the relative displacement of the current vehicle relative to the starting point of the position;

[0104] A relative direction determination unit is used to integrate the angular velocity data in the driving data to obtain the relative direction of the current vehicle relative to the starting point of the position;

[0105] The relative position information determining unit is used to determine the relative position information based on the relative displacement and the relative direction.

[0106] In an optional implementation, the positioning information includes the longitude information and latitude information of the current vehicle; the relative position information includes the relative longitude position and relative latitude position of the current vehicle relative to the current exit;

[0107] A reference position determination module, comprising:

[0108] A reference longitude information determination unit, used to subtract the longitude information from the relative longitude position to obtain reference longitude information corresponding to the current exit;

[0109] A reference latitude information determination unit, used to subtract the latitude information from the relative latitude position to obtain the reference latitude information corresponding to the current exit;

[0110] The reference position information determining unit is used to determine the reference position information based on the exit longitude information and the exit latitude information.

[0111] In an optional embodiment, the device further includes:

[0112] A reference position storage module, used to associate the reference position information corresponding to the current export feature with the current export feature and store it in a reference position set;

[0113] The reference position updating module is used to obtain multiple reference position information corresponding to the current export feature in the reference position set, and perform data statistics on the multiple reference position information to update the reference position information corresponding to the current export feature.

[0114] In an optional implementation, the reference position updating module includes:

[0115] A reference position screening unit, used to remove reference position information exceeding a preset deviation range from a plurality of reference position information, to obtain screened reference position information;

[0116] The mean processing unit is used to perform mean processing on the filtered reference position information to update the reference position information.

[0117] In an optional embodiment, the device further includes:

[0118] An environment image acquisition module is used to acquire the environment image of the current vehicle;

[0119] The image type determination module is used to perform image recognition on the environment image and determine the image type of the environment image.

[0120] The device and method embodiments in the embodiments of this application are based on the same application concept.

[0121] Figure 7 The schematic diagram of the structure of the vehicle-mounted terminal provided by the embodiment of the present invention is shown. The specific embodiment of the present invention does not limit the specific implementation of the vehicle-mounted terminal.

[0122] like Figure 7 As shown, the vehicle-mounted terminal may include: a processor (processor) 702 , a communication interface (Communications Interface) 704 , a memory (memory) 706 , and a communication bus 708 .

[0123] The processor 702, the communication interface 704, and the memory 706 communicate with each other via the communication bus 708. The communication interface 704 is used to communicate with other devices such as a client or other server network elements. The processor 702 is used to execute the program 710, which can specifically execute the relevant steps in the above-mentioned embodiment of the deviation correction method for vehicle-mounted positioning.

[0124] Specifically, the program 710 may include program code including computer executable instructions.

[0125] The processor 702 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiment of the present invention. The one or more processors included in the vehicle terminal may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0126] The memory 706 is used to store the program 710. The memory 706 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.

[0127] Program 710 may be specifically called by processor 702 to enable the vehicle-mounted terminal to execute the relevant steps in the above-mentioned deviation correction method embodiment for vehicle-mounted positioning.

[0128] It can be understood by those skilled in the art that Figure 7 The structure shown is only for illustration and does not limit the structure of the above-mentioned device. Figure 7 More or fewer components as shown, or with Figure 7 Different configurations shown.

[0129] An embodiment of the present invention provides a computer-readable storage medium, which stores at least one executable instruction. When the executable instruction is run on a vehicle-mounted positioning correction device / vehicle-mounted terminal, the vehicle-mounted positioning correction device / vehicle-mounted terminal executes the vehicle-mounted positioning correction method in any of the above-mentioned method embodiments.

[0130] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system or other device. In addition, the embodiments of the present invention are not directed to any particular programming language.

[0131] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. Similarly, in order to simplify the present invention and help understand one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, the various features of the embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof.

[0132] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and further may be divided into a plurality of submodules or subunits or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive.

[0133] It should be noted that the above embodiments illustrate the present invention rather than limit the present invention, and those skilled in the art can design alternative embodiments without departing from the scope of protection of the present invention. The word "comprising" does not exclude the existence of elements or steps not listed in the present invention. The word "one" or "an" preceding an element does not exclude the existence of multiple such elements. The present invention can be implemented by means of hardware including several different elements and by means of appropriately programmed computers. In the embodiments in which several devices are listed, several of these devices can be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words can be interpreted as names. The steps in the above embodiments should not be understood as limiting the order of execution unless otherwise specified.

Claims

1. A deviation correction method for vehicle-mounted positioning, characterized in that: The method comprises: If the environment image of the image type is an exit type, feature extraction is performed on the environment image to obtain a current exit feature corresponding to the current exit; the current exit feature is used to identify the current exit; Based on the current exit feature, query in a reference position set to obtain reference position information corresponding to the current exit feature; the reference position set includes reference position information corresponding to a plurality of exit features, and the reference position information is determined based on driving data and positioning information after the vehicle exits the exit; The reference position information corresponding to the current exit feature is used as the positioning information of the current exit.

2. The method according to claim 1, characterized in that: The method further comprises: Acquire driving data of the current vehicle after it exits the current exit, and determine relative position information of the current vehicle based on the driving data; the relative position information is position information of the current vehicle relative to the current exit; If the positioning information of the current vehicle is acquired, the reference position information corresponding to the current exit feature is determined based on the positioning information and the relative position information.

3. The method according to claim 2, characterized in that The determining the relative position information of the current vehicle based on the driving data includes: Taking the position of the current exit as the position starting point; Integrating the acceleration data in the driving data to obtain a relative displacement of the current vehicle relative to the starting point of the position; Integrating the angular velocity data in the driving data to obtain a relative direction of the current vehicle relative to the starting point of the position; Based on the relative displacement and the relative direction, the relative position information is determined.

4. The method according to claim 2, characterized in that: The positioning information includes the longitude information and latitude information of the current vehicle; the relative position information includes the relative longitude position and relative latitude position of the current vehicle relative to the current exit; The determining, based on the positioning information and the relative position information, the reference position information corresponding to the current exit feature comprises: Subtracting the longitude information from the relative longitude position to obtain reference longitude information corresponding to the current exit; Subtracting the latitude information from the relative latitude position to obtain reference latitude information corresponding to the current exit; The reference location information is determined based on the reference longitude information and the reference latitude information.

5. The method according to claim 2, characterized in that: The method further comprises: Associating the reference position information corresponding to the current outlet feature with the current outlet feature and storing the information in the reference position set; A plurality of the reference position information corresponding to the current exit feature in the reference position set is obtained, and data statistics are performed on the plurality of the reference position information to update the reference position information corresponding to the current exit feature.

6. The method according to claim 5, characterized in that The performing data statistics on the plurality of reference position information to update the reference position information corresponding to the current export feature includes: Removing the reference position information that exceeds a preset deviation range from the plurality of reference position information to obtain filtered reference position information; The filtered exit location information is averaged to update the reference location information.

7. The method according to claim 1, characterized in that The method further comprises: Acquire the environment image of the current vehicle; Perform image recognition on the environment image to determine the image type of the environment image.

8. A vehicle-mounted positioning correction device, characterized in that: The device comprises: A feature extraction module is used to extract features from the environment image if the image type is an exit type, so as to obtain a current exit feature corresponding to the current exit; the current exit feature is used to identify the current exit; A reference position acquisition module, configured to query a reference position set based on the current exit feature to obtain reference position information corresponding to the current exit feature; the reference position set includes reference position information corresponding to a plurality of exit features, and the reference position information is determined based on driving data and positioning information of the vehicle after exiting the exit; The positioning and deviation correction module is used to use the reference position information corresponding to the current exit feature as the positioning information of the current exit.

9. A vehicle-mounted terminal, characterized in that: include: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the vehicle-mounted positioning correction method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The storage medium stores at least one executable instruction, and when the executable instruction is executed on the map positioning correction device / vehicle-mounted terminal, the vehicle-mounted positioning correction device / vehicle-mounted terminal performs the operation of the vehicle positioning correction method as described in any one of claims 1-7.

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