Map calling method, device, equipment and storage medium based on matching positioning

Abstract

The present application discloses a map calling method, device, equipment and storage medium based on matching positioning, which relates to the field of map calling technology. The map calling method based on matching positioning includes: obtaining the initial position data of the target vehicle; matching and locking according to the initial position data to obtain the target road number; obtaining the target map data according to the target road number and a preset calling algorithm, so that the target vehicle completes the map calling according to the target map data. The present application optimizes the engine logic and calling algorithm, significantly reduces the computing power and memory usage while meeting the matching positioning requirements, and improves the performance and efficiency of the system.

Description

Technical Field

[0001] The present application relates to the technical field of map calling, and in particular to a map calling method, apparatus, device and storage medium based on matching positioning. Background Art

[0002] With the development of intelligent transportation systems, the requirements for vehicle positioning accuracy are getting higher and higher. On urban expressways and highways, multi-source sensor fusion positioning systems can provide lane-level high-precision positioning functions, which are essential for applications such as autonomous driving, vehicle navigation, and traffic management. This system relies on the matching and fusion of sensor data such as RTK / GNSS, vehicle body data, IMU, lane line and object perception, and high-precision maps.

[0003] At present, the multi-source sensor fusion positioning system mainly obtains sensor information collected by multiple different types of sensors of the target vehicle, and obtains map information corresponding to the estimated position of the target vehicle from high-precision map data. Based on this information, the system corrects the data collected by the sensor and fuses the corrected sensor information with the high-precision map data to determine the high-precision positioning information of the target vehicle. This method improves the accuracy and robustness of the positioning system.

[0004] Although existing technologies can provide high-precision positioning information, they require continuous calls to map data around the vehicle's location, which results in a waste of memory and computing power. With limited computing power and memory resources, this continuous data call not only reduces system efficiency, but may also affect system stability and response speed. Therefore, how to reduce computing power and memory usage has become an urgent problem to be solved. Summary of the invention

[0005] The purpose of this application is to provide a map calling method, device, equipment and storage medium based on matching positioning, aiming to solve the technical problem of how to reduce computing power and memory usage.

[0006] To achieve the above purpose, the present application proposes a map calling method based on matching positioning, the method comprising:

[0007] Obtaining the initial position data of the target vehicle;

[0008] Matching and locking are performed according to the initial position data to obtain a target road number;

[0009] According to the target road number and a preset calling algorithm, target map data is obtained so that the target vehicle completes map calling according to the target map data.

[0010] In one embodiment, before matching and locking the initial location data to obtain the target road number, the method further includes:

[0011] Obtaining verification information of the target vehicle;

[0012] Verify the verification information according to a preset verification key to obtain a verification status;

[0013] If the verification status is passed, matching and locking are performed according to the initial position data.

[0014] In one embodiment, matching and locking are performed according to the initial position data to obtain the target road number, including:

[0015] Get stored map data;

[0016] Performing data conversion according to the initial position data to obtain initial engine data;

[0017] The target road number is obtained by matching the stored map data with the initial engine data.

[0018] In one embodiment, before acquiring the stored map data, the method further includes:

[0019] Determining the current stored map data version according to the stored map data;

[0020] Send request information to the cloud so that the cloud can feedback cloud map data;

[0021] Determining a current cloud map data version according to the cloud map data;

[0022] If the current stored map data version is inconsistent with the current cloud map data version, the cloud map data is updated to the stored map data.

[0023] In one embodiment, before obtaining the target road number by matching the stored map data with the initial engine data, the method further includes:

[0024] If the initial engine data cannot match the stored map data, inertial unit data is acquired, first reference position data is obtained based on the inertial unit data and the initial position data, the first reference position data is converted to obtain first reference engine data, and the stored map data is matched according to the first reference engine data to obtain a target road number;

[0025] If the first reference engine data cannot match the stored map data, track recursion is performed according to a preset matching algorithm and the first reference position data to obtain second reference position data, data conversion is performed on the second reference position data to obtain second reference engine data, and the stored map data is matched according to the second reference engine data to obtain a target road number.

[0026] In one embodiment, obtaining target map data according to the target road number and a preset calling algorithm so that the target vehicle completes map calling according to the target map data includes:

[0027] Obtain a first preset distance threshold and a second preset distance threshold;

[0028] Determine a first target distance from the forward direction of the road where the target vehicle is located to the forward direction intersection according to the target road number;

[0029] If the first target distance is less than the first preset distance threshold, obtaining a first reference road based on the road at the intersection in the forward direction;

[0030] Determine a second target distance from the backward direction of the road where the target vehicle is located to the backward direction intersection according to the target road number;

[0031] If the second target distance is less than the second preset distance threshold, obtaining a second reference road based on the road at the reverse direction intersection;

[0032] Target map data is obtained according to the road where the target vehicle is located, the first reference road and the second reference road.

[0033] In one embodiment, before obtaining the target map data according to the road where the target vehicle is located, the first reference road and the second reference road, the method further includes:

[0034] Obtaining a first distance difference according to the first preset distance threshold and the first target distance;

[0035] Obtaining a second distance difference according to the second preset distance threshold and the second target distance;

[0036] If the length of the first reference road is less than the first distance difference, updating the third reference road based on the intersection end of the first reference road to the first reference road;

[0037] If the length of the second reference road is less than the second distance difference, a fourth reference road based on the intersection end of the second reference road is updated to the second reference road.

[0038] In addition, to achieve the above purpose, the present application also proposes a map calling device based on matching positioning, the device comprising:

[0039] An acquisition module, used to acquire the initial position data of the target vehicle;

[0040] An obtaining module is used to match and lock the target road number according to the initial location data;

[0041] The completion module is used to obtain target map data according to the target road number and a preset calling algorithm, so that the target vehicle completes the map calling according to the target map data.

[0042] In addition, to achieve the above-mentioned purpose, the present application also proposes a map calling device based on matching positioning, the device comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the map calling method based on matching positioning as described above.

[0043] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the map calling method based on matching positioning as described above are implemented.

[0044] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the map calling method based on matching positioning as described above.

[0045] One or more technical solutions proposed in this application have at least the following technical effects:

[0046] This application first ensures that the system can accurately capture the current position of the vehicle and provide basic data for subsequent map matching and positioning. Then, by comparing the initial position data with the information in the map database, the system can lock the specific road where the vehicle is located, thereby determining the target road number. Finally, using the determined road number, combined with the preset algorithm, the map data required for the current position of the vehicle is accurately retrieved and extracted. This application determines the approximate location of the vehicle by obtaining the initial position data of the vehicle. And use this data for matching and locking, and accurately identify the road number where the vehicle is located. Finally, based on this number and the preset algorithm, the minimized map data required for the vehicle is extracted to complete the map call. Not only does it improve the efficiency of map data retrieval, but it also reduces the occupancy of computing power and memory resources, thereby optimizing the entire map call process. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0048] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0049] Figure 1 A flowchart of the first embodiment of the map calling method based on matching positioning provided in the present application;

[0050] Figure 2 This is a schematic diagram of road distribution and connectivity relationship of the first embodiment of the map calling method based on matching positioning of the present application;

[0051] Figure 3 A flowchart diagram of the second embodiment of the map calling method based on matching positioning of the present application is provided;

[0052] Figure 4 A flowchart of map data event-based caching and transmission provided in Example 2 of the map calling method based on matching positioning of the present application;

[0053] Figure 5 This is a schematic diagram of the module structure of a map calling device based on matching positioning according to an embodiment of the present application;

[0054] Figure 6 This is a schematic diagram of the device structure of the hardware operating environment involved in the map calling method based on matching positioning in the embodiment of the present application.

[0055] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0056] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0057] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0058] With the development of intelligent transportation systems, the requirements for vehicle positioning accuracy are getting higher and higher. On urban expressways and highways, multi-source sensor fusion positioning systems can provide lane-level high-precision positioning functions, which are essential for applications such as autonomous driving, vehicle navigation, and traffic management. This system relies on the matching and fusion of sensor data such as RTK / GNSS, vehicle body data, IMU, perception of lane lines and objects, and high-precision maps. At present, the multi-source sensor fusion positioning system mainly obtains sensor information collected by multiple different types of sensors of the target vehicle, and obtains map information corresponding to the estimated position of the target vehicle from high-precision map data. Based on this information, the system corrects the data collected by the sensor and fuses the corrected sensor information with the high-precision map data to determine the high-precision positioning information of the target vehicle. This method improves the accuracy and robustness of the positioning system. Although the existing technology can provide high-precision positioning information, it requires continuous call of map data around the vehicle position, which leads to a waste of memory and computing power. In the case of limited computing power and memory resources, this continuous data call not only reduces the system efficiency, but also may affect the stability and response speed of the system.

[0059] The main solution of the embodiment of the present application is: This embodiment first ensures that the system can accurately capture the current position of the vehicle and provide basic data for subsequent map matching and positioning. Then, by comparing the initial position data with the information in the map database, the system can lock the specific road where the vehicle is located, thereby determining the target road number. Finally, using the determined road number, combined with the preset algorithm, the map data required for the current position of the vehicle is accurately retrieved and extracted. This embodiment determines its approximate location by obtaining the initial position data of the vehicle. And use these data for matching and locking, and accurately identify the road number where the vehicle is located. Finally, based on this number and the preset algorithm, the minimized map data required for the vehicle is extracted to complete the map call. Not only is the efficiency of map data retrieval improved, but it also reduces the occupancy of computing power and memory resources, thereby optimizing the entire map call process.

[0060] It should be noted that the execution subject of the embodiment of the present application may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, an electronic control unit, etc. The following takes the electronic control unit as an example to illustrate this embodiment and the following embodiments.

[0061] Based on this, the embodiment of the present application provides a map calling method based on matching positioning, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the map calling method based on matching positioning of the present application.

[0062] In this embodiment, the map calling method based on matching positioning includes steps S10 to S30:

[0063] Step S10, obtaining the initial position data of the target vehicle;

[0064] It should be noted that the target vehicle can be a vehicle that needs positioning and navigation services. It can be any type of vehicle, such as a car, truck, bus, etc. The key is that it needs to determine its specific position on the road through the navigation system. The initial position data can be the initial information about the vehicle's position obtained by the target vehicle before performing map matching and navigation services. These data usually include the vehicle's latitude and longitude coordinates, altitude, speed, heading and other information, which can come from a variety of sensors, such as the Global Positioning System (GPS) or Real-Time Kinematic Measurement Technology (RTK).

[0065] It is understandable that through an integrated positioning system, such as a global positioning system (GPS), basic information such as the latitude and longitude coordinates of the target vehicle is collected, and these data provide the necessary starting information for the precise positioning of the vehicle and subsequent map matching.

[0066] Step S20, matching and locking are performed according to the initial position data to obtain a target road number;

[0067] It should be noted that the target road number refers to a set of numbers used to identify specific roads, usually composed of letters and numbers, to distinguish roads of different levels. In China, these numbers follow specific rules and standards, for example: national highways start with the capital letter "G" followed by three digits, such as "G107". Among them, the national highways starting with "1" are radial national highways centered on Beijing; the national highways starting with "2" are north-south national highways; and the national highways starting with "3" are east-west national highways. These numbers not only help with road management and planning, but also provide important reference information during navigation and driving, helping drivers accurately identify routes and plan trips.

[0068] It can be understood that the vehicle's initial location data, such as GPS coordinates and other information, is used to compare and analyze the road data in the map database through a map matching algorithm to accurately identify and lock the specific road where the vehicle is currently located, and obtain the unique number of the road. This number is usually an identifier composed of letters and numbers, which is used to uniquely identify a road in the map database.

[0069] As an example, before matching and locking according to the initial position data to obtain the target road number, it also includes: obtaining verification information of the target vehicle; verifying the verification information according to a preset verification key to obtain a verification status; if the verification status is passed, matching and locking according to the initial position data.

[0070] Among them, verification information can be the process of confirming the authenticity or validity of some specific data or information. The preset verification key can be a secret key set or shared in advance in secure communication or data processing, which is used to encrypt or decrypt information to ensure the security and integrity of information. It is a common security measure used to verify the source and authenticity of information. The verification status can be the state after verification, that is, whether it is in a verified controlled state and whether it can continue to meet the established standards or expected performance.

[0071] Specifically, by collecting the vehicle's identity or status information, such as the vehicle identification number (VIN) or user account information, this information is then verified using a pre-set security key to ensure its authenticity and security. Once the verification is successful, the map engine is called using the vehicle's initial location data, and the specific road where the vehicle is located is locked through map matching for subsequent navigation services.

[0072] Step S30, obtaining target map data according to the target road number and a preset calling algorithm, so that the target vehicle completes map calling according to the target map data.

[0073] It should be noted that the preset call algorithm can be a series of algorithmic rules pre-set in the vehicle navigation system in order to obtain the target map data. These rules define how to retrieve and extract the corresponding map data according to the target road number. This usually involves the indexing, querying and extraction process of map data, as well as possible path planning and navigation logic. The target map data refers to the map information related to the current driving of the vehicle retrieved from the map database by the navigation system according to the current position and driving status of the vehicle.

[0074] It can be understood that by using the road number of the vehicle and a series of pre-defined algorithm rules, map information closely related to the vehicle's current position and driving path is retrieved and extracted from the map database. This information is used to assist the vehicle in accurate positioning and navigation, ensuring that the vehicle can plan and drive the correct path based on the latest map data.

[0075] As an example, according to the target road number and the preset calling algorithm, the target map data is obtained so that the target vehicle completes the map calling according to the target map data, including: obtaining a first preset distance threshold and a second preset distance threshold; determining a first target distance from the forward direction of the road where the target vehicle is located to the forward direction intersection according to the target road number; if the first target distance is less than the first preset distance threshold, obtaining a first reference road based on the road at the forward direction intersection; determining a second target distance from the backward direction of the road where the target vehicle is located to the backward direction intersection according to the target road number; if the second target distance is less than the second preset distance threshold, obtaining a second reference road based on the road at the backward direction intersection; obtaining the target map data according to the road where the target vehicle is located, the first reference road and the second reference road.

[0076] Among them, the first preset distance threshold and the second preset distance threshold may be two distance parameters pre-set in the navigation system, which are used to determine the road range that the vehicle needs to consider in the forward and backward directions. The first target distance may be the actual distance from the current position of the target vehicle to the next intersection along the forward direction. This distance is calculated based on the current road number and map data of the vehicle. The first reference road may be a reference road determined based on the road information of the intersection in the forward direction when the first target distance is less than the first preset distance threshold. This road is called the first reference road, which provides detailed map data of the intersection in front of the vehicle. The second target distance may be the actual distance from the current position of the target vehicle to the previous intersection along the backward direction. This distance is also calculated based on the current road number and map data of the vehicle. The second reference road may be a reference road determined based on the road information of the intersection in the backward direction when the second target distance is less than the second preset distance threshold. This road is called the second reference road, which provides detailed map data of the intersection behind the vehicle to assist navigation decisions.

[0077] Specifically, two distance thresholds are first set, namely a first preset distance threshold and a second preset distance threshold, which are used to determine the intersections in front and behind the vehicle. The first target distance from the vehicle to the front intersection and the second target distance to the rear intersection are calculated based on the current road number of the target vehicle. If the first target distance is less than the preset front threshold, the road at the front intersection is used as the first reference road; similarly, if the second target distance is less than the preset rear threshold, the system will use the road at the rear intersection as the second reference road. Finally, the target map data is extracted by combining the information of the vehicle's current road, the first reference road, and the second reference road for the vehicle to perform accurate map calls and navigation. This process ensures that the vehicle can obtain the necessary map information based on its specific location and surrounding environment to achieve safe and accurate navigation.

[0078] As an example, before obtaining the target map data based on the road where the target vehicle is located, the first reference road and the second reference road, it also includes: obtaining a first distance difference based on the first preset distance threshold and the first target distance; obtaining a second distance difference based on the second preset distance threshold and the second target distance; if the length of the first reference road is less than the first distance difference, then updating the third reference road based on the intersection end of the first reference road to the first reference road; if the length of the second reference road is less than the second distance difference, then updating the fourth reference road based on the intersection end of the second reference road to the second reference road.

[0079] Among them, the first distance difference may be the difference between the first preset distance threshold and the first target distance. If the first target distance (the actual distance from the vehicle to the front intersection) is less than the first preset distance threshold (the threshold set by the system), this difference indicates the length of the road that the vehicle needs to consider additionally to ensure that the map data covers a sufficient driving range. The second distance difference may be the difference between the second preset distance threshold and the second target distance. If the second target distance (the actual distance from the vehicle to the rear intersection) is less than the second preset distance threshold, this difference indicates the length of the road that the vehicle needs to consider backward. The third reference road may be when the length of the first reference road is less than the first distance difference, the first reference road is not enough to cover the distance to the front intersection, and the range of the road data needs to be expanded. The third reference road may be a road that continues to extend at the front intersection end of the first reference road, and is used to update and extend the first reference road to ensure the continuity and integrity of the map data. The fourth reference road may be when the length of the second reference road is less than the second distance difference, the second reference road is not enough to cover the distance to the rear intersection, and the range of the road data needs to be expanded. The fourth reference road refers to a road that continues to extend at the rear intersection end of the second reference road, and is used to update and extend the second reference road. As Figure 2 , Figure 2 The diagram is a diagram of road distribution and connectivity. When there is a fork in front of the vehicle, that is, when there are multiple successor roads on the current road, it is necessary to traverse all the successor roads and exit when the total length reaches 150 meters. Similarly, when there is a confluence behind the vehicle, that is, when there are multiple predecessor roads on the current road, it is necessary to traverse all the predecessor roads and exit when the total length reaches 50 meters. Figure 2In the figure, the successors of Link1 and Link2 are Link3, and the successors of Link3 are Link4 and Link5. The current matching position is at Link3. If the length of Link3 is 130 meters, the positioning position is offset by 30 meters relative to the starting point of Link3. Since there are only 100 meters left in the road ahead, less than 150 meters, Link4 and Link5 are obtained through the successor attribute of Link3. The total length of both branches exceeds 150 meters, so the search is stopped. Similarly, since there are only 30 meters left in the road behind, less than 50 meters, Link1 and Link2 are obtained through the predecessor attribute of Link3. The total length of both branches exceeds 50 meters, so the search is stopped. This operation will not only prevent the acquisition of Link6, Link7 and Link8, which are useless for positioning, but also improve the search efficiency of the map engine. The efficiency of querying by range is very low. When the vehicle is at a fork, it is necessary to obtain all the successor roads of the predecessor road of the current road to prevent the vehicle from accidentally crossing the diversion area and driving directly to the adjacent road. The positioning cannot be matched on the map, that is, the adjacent road of the current road is obtained. Similarly, it is necessary to obtain all the predecessor roads of the successor road of the current road. Figure 2 In the diagram, if the vehicle is at Link2, less than 150 meters ahead, after obtaining the successor Link3, it is found that the predecessors of Link3 are Link1 and Link2, and Link1 needs to be obtained. If the vehicle is at Link5, less than 50 meters behind, after obtaining the predecessor Link3, it is found that the successors of Link3 are Link4 and Link5, and Link4 needs to be obtained.

[0080] Specifically, the first distance difference is first calculated, that is, the difference between the first preset distance threshold and the actual distance from the front of the vehicle to the intersection (the first target distance); similarly, the second distance difference is calculated, that is, the difference between the second preset distance threshold and the actual distance from the rear of the vehicle to the intersection (the second target distance). If the length of the first reference road in front is not enough to cover the range represented by the first distance difference, the additional road segment (the third reference road) at the front intersection end of the first reference road will be included to update the first reference road to ensure that sufficient front area is covered. Similarly, if the length of the second reference road in the rear is not enough to cover the range represented by the second distance difference, the additional road segment (the fourth reference road) at the rear intersection end of the second reference road will be included to update the second reference road to ensure that sufficient rear area is covered. This process ensures that the vehicle can obtain continuous and sufficient map data during driving to support accurate navigation and positioning.

[0081] This embodiment provides a map calling method based on matching and positioning. This embodiment first ensures that the system can accurately capture the current position of the vehicle and provide basic data for subsequent map matching and positioning. Then, by comparing the initial position data with the information in the map database, the system can lock the specific road where the vehicle is located, thereby determining the target road number. Finally, using the determined road number and combining with the preset algorithm, the map data required for the current position of the vehicle is accurately retrieved and extracted. This embodiment determines its approximate position by obtaining the initial position data of the vehicle. And use these data for matching and locking, and accurately identify the road number where the vehicle is located. Finally, based on this number and the preset algorithm, the minimized map data required by the vehicle is extracted to complete the map call. Not only is the efficiency of map data retrieval improved, but also the occupation of computing power and memory resources is reduced, thereby optimizing the entire map calling process.

[0082] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can refer to the above introduction, and will not be repeated later. Figure 3 , Figure 3 This is a flow chart of the second embodiment of the map calling method based on matching positioning of the present application. Step S20 of the map calling method based on matching positioning includes steps S21 to S23:

[0083] Step S21, obtaining stored map data;

[0084] It should be noted that stored map data can be map information pre-stored in the vehicle navigation system or other related devices. Such data usually includes geographic information such as road networks, points of interest (POI), geographic features, etc. Stored map data enables the system to provide basic map display and navigation services even without a real-time network connection. Stored map data can be in digital form and stored in the vehicle's built-in memory, SD card, hard disk or other types of storage media.

[0085] It is understandable that the navigation system reads pre-loaded map information from its built-in or external storage medium. This information includes detailed geographic data such as roads, points of interest, geographic features, etc., which is used to support the vehicle's positioning and navigation functions, and usually requires regular updates to keep the data accurate and up-to-date.

[0086] As an example, before obtaining the stored map data, it also includes: determining the current stored map data version based on the stored map data; sending a request message to the cloud so that the cloud can feedback the cloud map data; determining the current cloud map data version based on the cloud map data; if the current stored map data version is inconsistent with the current cloud map data version, updating the cloud map data to the stored map data.

[0087] Among them, the currently stored map data version can be the current version identifier of the map data in the built-in storage of the vehicle navigation system. Each version of the map data has a unique identifier for distinguishing map data with different update cycles. The request information can be a query message sent by the vehicle navigation system to the cloud to request the cloud to provide version information of the map data stored therein or the latest map data. The cloud can be a remote server or data center that stores a large amount of data and services, including map data. The cloud can provide data storage, processing and distribution services. Cloud map data can be data stored in the cloud, including detailed information of the map, such as roads, points of interest, etc. These data can be updated in real time to reflect the latest geographical and traffic changes. The current cloud map data version can be the current version identifier of the map data stored in the cloud. Corresponding to the map data version stored in the vehicle, it is used to determine whether updated map data is available for download.

[0088] Specifically, first check the locally stored map data to determine its version number; then, send a request message to the cloud, requesting the cloud to provide the version information of its map data; the cloud responds to the request and returns the version number of its map data; if it is found that the version number of the map data in the cloud is inconsistent with the version number stored locally, that is, there is an update, download the latest map data from the cloud, and update the locally stored map data to ensure the accuracy and up-to-dateness of the local map information.

[0089] Step S22, performing data conversion according to the initial position data to obtain initial engine data;

[0090] It should be noted that the initial engine data can be a set of data obtained after processing and conversion based on the initial position data of the target vehicle. This set of data is specially designed for use by the map matching engine. The initial position data usually includes GPS coordinates (such as longitude and latitude), vehicle heading, speed and other information, and the initial engine data converts these raw sensor data into a format that can be processed by the map matching algorithm. Specifically, the initial engine data may include: coordinate conversion, converting GPS coordinates into a coordinate system used by the map matching engine, such as the UTM (Universal Transverse Mercator) coordinate system; data formatting, formatting the raw data to meet the input requirements of the map matching engine.

[0091] It is understood that the vehicle's original location information, such as GPS coordinates, speed and heading, is converted into a format suitable for use by the map matching engine through a series of processing steps, including coordinate conversion, data formatting, filtering, etc., to improve the accuracy of map matching and the performance of the navigation system. This process ensures that the vehicle's initial location data can be effectively understood and used by the navigation system.

[0092] Step S23, obtaining a target road number by matching the stored map data with the initial engine data.

[0093] It should be noted that the target road number can be a number used to uniquely identify a specific road in a vehicle navigation or positioning system. This number is usually defined by a map data provider or relevant traffic management department, and is used to quickly index and identify specific road segments in a map database. When the map data is stored through initial engine data matching, the vehicle's current location information (i.e., initial engine data) is compared with the road information in the map database to determine the exact road the vehicle is located on. After a successful match, the corresponding road number is extracted. This number is the target road number, which represents the specific road the vehicle is currently traveling on or located on. The target road number is very important reference information for subsequent path planning, navigation instructions, and traffic analysis.

[0094] It is understandable that the process of comparing and analyzing the vehicle's initial position information (initial engine data) with the road information in the map database to determine the specific road the vehicle is currently on and obtain the unique number of the road is a key step in vehicle positioning and navigation, ensuring that the navigation system can accurately identify the vehicle's position and provide correct navigation guidance.

[0095] As an example, before obtaining the target road number by matching the stored map data with the initial engine data, the method further includes: if the initial engine data cannot match the stored map data, acquiring inertial unit data, obtaining first reference position data based on the inertial unit data and the initial position data, performing data conversion on the first reference position data to obtain first reference engine data, matching the stored map data according to the first reference engine data to obtain the target road number; if the first reference engine data cannot match the stored map data, performing track recursion according to a preset matching algorithm and the first reference position data to obtain second reference position data, performing data conversion on the second reference position data to obtain second reference engine data, matching the stored map data according to the second reference engine data to obtain the target road number.

[0096] Among them, the inertial unit data can be data provided by an inertial measurement unit (IMU), including information such as acceleration and angular velocity, which is used to measure and report the motion state of the vehicle. The first reference position data can be a preliminary position estimate calculated by combining the inertial unit data and the initial position data when the initial engine data cannot match the map data. This estimated position data is called the first reference position data. The first reference engine data can be the first reference position data converted into a format suitable for map matching engine processing after data conversion processing. The second reference position data can be a new position estimate calculated by performing track recursion based on a preset matching algorithm and the first reference position data if the first reference engine data still cannot match the stored map data. This new position estimate is called the second reference position data. The second reference engine data can be the second reference position data converted into a format suitable for map matching engine processing after data conversion processing.

[0097] Specifically, when the vehicle's initial engine data cannot be matched with the stored map data to determine the road the vehicle is on, inertial unit data (such as acceleration and angular velocity) and initial position data are used to calculate a temporary position estimate, namely the first reference position data. This temporary position data is then converted into a format suitable for processing by the map matching engine to form the first reference engine data. If the first reference engine data still cannot match the map data, the preset matching algorithm and the first reference position data will be used to perform track calculation to generate the second reference position data, which will be converted into the second reference engine data. Finally, the second reference engine data is used to try again to match the stored map data to determine the target road number where the vehicle is located. This process ensures that the vehicle navigation system can determine the vehicle's position as accurately as possible even when the GPS signal is poor or the map data is not updated in a timely manner.

[0098] As an example, the map cache logic may also be optimized, such as Figure 4 As shown, Figure 4Three new fields are added to the map data cache structure, namely allLinkIdVec, which records the map road ID set that has been stored at the current moment, addLinkIdVec, which records the road ID set that has been added at the current moment relative to the previous moment, and removeLinkIdVec, which records the road ID set that needs to be removed. When searching the search engine according to the road ID every 1 second, if the road ID already exists in allLinkIdVec, the engine will not be called repeatedly. Only the newly added roads will be obtained, and addLinkIdVec will be updated according to the obtained road ID. RemoveLinkIdVec is updated by comparing the LinkId not involved in allLinkIdVec, and finally allLinkIdVec is updated with all the current LinkIds. The cached data only stores the newly added map data, and finally the newly added map data, addLinkIdVec and removeLinkIdVec are sent to the matching positioning. Event-based logic is used to reduce the memory and computing power usage caused by repeated map acquisition and transmission. Similarly, when using the method of obtaining surrounding map data, all newly obtained road IDs are compared with the existing allLinkIdVec, and only the newly added map data, addLinkIdVec and removeLinkIdVec are sent to the matching location. The logic of event-based transmission is still used, but it cannot reduce the acquisition of repeated maps.

[0099] This embodiment first obtains the stored map data, that is, retrieves the necessary map information from the database of the vehicle navigation system to provide basic data for subsequent positioning and matching work. Then, data conversion is performed based on the initial position data provided by the vehicle, and it is converted into a format suitable for processing by the map matching engine to generate initial engine data. This conversion step ensures that the format of the original position data is compatible with the map data, which facilitates accurate matching. Finally, the initial engine data is used to match the stored map data, and the target road number where the vehicle is located is accurately identified by comparing the vehicle position information with the map data. This embodiment realizes the entire process from obtaining basic map data to accurately locating the vehicle's position on the map, ensuring that the navigation system can provide accurate route guidance and navigation services for the driver.

[0100] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the map calling method based on matching positioning of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0101] This application also provides a map calling device based on matching positioning, please refer to Figure 5 , the map calling device based on matching positioning includes:

[0102] An acquisition module 10 is used to acquire the initial position data of the target vehicle;

[0103] An obtaining module 20 is used to match and lock the target road number according to the initial position data;

[0104] The completion module 30 is used to obtain target map data according to the target road number and a preset calling algorithm, so that the target vehicle completes the map calling according to the target map data.

[0105] The map calling device based on matching positioning provided by the present application adopts the map calling method based on matching positioning in the above embodiment, which can solve the technical problem of how to reduce computing power and memory usage. Compared with the prior art, the beneficial effects of the map calling device based on matching positioning provided by the present application are the same as the beneficial effects of the map calling method based on matching positioning provided by the above embodiment, and the other technical features of the map calling device based on matching positioning are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0106] The present application provides a map calling device based on matching positioning, and the map calling device based on matching positioning includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the map calling method based on matching positioning in the above-mentioned embodiment one.

[0107] Reference below Figure 6 , which shows a schematic diagram of the structure of a map calling device based on matching positioning suitable for implementing the embodiment of the present application. The map calling device based on matching positioning in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The map calling device based on matching positioning shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0108] like Figure 6As shown, the map calling device based on matching positioning may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the map calling device based on matching positioning are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the map calling device based on matching positioning to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a map calling device based on matching positioning with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0109] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0110] The map calling device based on matching positioning provided by the present application adopts the map calling method based on matching positioning in the above embodiment, which can solve the technical problem of how to reduce computing power and memory usage. Compared with the prior art, the beneficial effects of the map calling device based on matching positioning provided by the present application are the same as the beneficial effects of the map calling method based on matching positioning provided by the above embodiment, and the other technical features of the map calling device based on matching positioning are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0111] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0112] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0113] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the map calling method based on matching positioning in the above-mentioned embodiment.

[0114] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0115] The computer-readable storage medium may be included in the map calling device based on matching positioning; or may exist independently without being assembled into the map calling device based on matching positioning.

[0116] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by a map calling device based on matching positioning, the map calling device based on matching positioning obtains the initial position data of the target vehicle; performs matching and locking according to the initial position data to obtain the target road number; obtains the target map data according to the target road number and a preset calling algorithm, so that the target vehicle completes the map calling according to the target map data.

[0117] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0118] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0119] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0120] The readable storage medium provided in this application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned map calling method based on matching positioning, and can solve the technical problem of how to reduce computing power and memory usage. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the map calling method based on matching positioning provided in the above-mentioned embodiment, and will not be repeated here.

[0121] The present application also provides a computer program product, including a computer program, which implements the steps of the map calling method based on matching positioning as described above when the computer program is executed by a processor.

[0122] The computer program product provided by this application can solve the technical problem of how to reduce computing power and memory usage. Compared with the prior art, the beneficial effects of the computer program product provided by this application are the same as the beneficial effects of the map calling method based on matching positioning provided by the above embodiment, which will not be repeated here.

[0123] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A map calling method based on matching positioning, characterized in that: The method comprises: Obtaining the initial position data of the target vehicle; Matching and locking are performed according to the initial position data to obtain a target road number; According to the target road number and a preset calling algorithm, target map data is obtained so that the target vehicle completes map calling according to the target map data.

2. The method according to claim 1, characterized in that Before matching and locking according to the initial position data to obtain the target road number, the method further includes: Obtaining verification information of the target vehicle; Verify the verification information according to a preset verification key to obtain a verification status; If the verification status is passed, matching and locking are performed according to the initial position data.

3. The method according to claim 1, characterized in that The matching and locking according to the initial position data to obtain the target road number includes: Get stored map data; Performing data conversion according to the initial position data to obtain initial engine data; The target road number is obtained by matching the stored map data with the initial engine data.

4. The method according to claim 3, characterized in that Before acquiring and storing the map data, the method further includes: Determining the current stored map data version according to the stored map data; Send request information to the cloud so that the cloud can feedback cloud map data; Determining a current cloud map data version according to the cloud map data; If the current stored map data version is inconsistent with the current cloud map data version, the cloud map data is updated to the stored map data.

5. The method according to claim 3, characterized in that Before obtaining the target road number by matching the stored map data with the initial engine data, the method further includes: If the initial engine data cannot match the stored map data, inertial unit data is acquired, first reference position data is obtained based on the inertial unit data and the initial position data, the first reference position data is converted to obtain first reference engine data, and the stored map data is matched according to the first reference engine data to obtain a target road number; If the first reference engine data cannot match the stored map data, track recursion is performed according to a preset matching algorithm and the first reference position data to obtain second reference position data, data conversion is performed on the second reference position data to obtain second reference engine data, and the stored map data is matched according to the second reference engine data to obtain a target road number.

6. The method according to claim 1, characterized in that The step of obtaining target map data according to the target road number and a preset calling algorithm so that the target vehicle completes map calling according to the target map data includes: Obtain a first preset distance threshold and a second preset distance threshold; Determine a first target distance from the forward direction of the road where the target vehicle is located to the forward direction intersection according to the target road number; If the first target distance is less than the first preset distance threshold, obtaining a first reference road based on the road at the intersection in the forward direction; Determine a second target distance from the backward direction of the road where the target vehicle is located to the backward direction intersection according to the target road number; If the second target distance is less than the second preset distance threshold, obtaining a second reference road based on the road at the reverse direction intersection; Target map data is obtained according to the road where the target vehicle is located, the first reference road and the second reference road.

7. The method according to claim 6, characterized in that Before obtaining target map data according to the road where the target vehicle is located, the first reference road and the second reference road, the method further includes: Obtaining a first distance difference according to the first preset distance threshold and the first target distance; Obtaining a second distance difference according to the second preset distance threshold and the second target distance; If the length of the first reference road is less than the first distance difference, updating the third reference road based on the intersection end of the first reference road to the first reference road; If the length of the second reference road is less than the second distance difference, a fourth reference road based on the intersection end of the second reference road is updated to the second reference road.

8. A map calling device based on matching positioning, characterized in that: The device comprises: An acquisition module, used to acquire the initial position data of the target vehicle; An obtaining module is used to match and lock the target road number according to the initial location data; The completion module is used to obtain target map data according to the target road number and a preset calling algorithm, so that the target vehicle completes the map calling according to the target map data.

9. A map calling device based on matching positioning, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the map calling method based on matching positioning as described in any one of claims 1 to 7.

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

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