Vehicle positioning track calibration method and device, server and storage medium

Abstract

The invention provides a vehicle positioning track calibration method and device, a server and a storage medium, and the method comprises the steps: receiving a positioning coordinate which is transmitted by a vehicle and collected by a vehicle positioner, and judging whether the vehicle is close to a pre-marked drift road section or not according to the positioning coordinate; if it is judged that the vehicle approaches the drifting road section, whether the vehicle positioner loses locking or not continues to be judged; if the vehicle positioner does not lose locking, the coordinates of the starting point and the coordinates of the end point of each straight road section in the road network section corresponding to the drifting road section are called from a preset database; when the vehicle sequentially passes through each straight road section, randomly acquiring coordinates of a middle point of each straight road section acquired by a positioner; calculating each drift distance of the vehicle positioner according to the coordinates of the starting points, the coordinates of the terminal points and the coordinates of the middle points corresponding to the straight road sections; and the vehicle positioning track in the drifting road section is calibrated according to each drifting distance, so that the precision of the vehicle positioner can be kept stable during long-term use.

Description

Technical Field

[0001] The present application relates to the field of navigation technology, and in particular to a vehicle positioning trajectory calibration method, device, server and storage medium. Background Art

[0002] Drifting sections are mainly caused by vehicle GPS drift and inaccurate positioning. The principle of GPS positioning is to calculate the position of the receiver by receiving the ephemeris parameters and time information transmitted by the satellite using a trigonometric formula. In actual use, a variety of factors will affect the positioning accuracy of GPS and cause road drift. Therefore, in order to ensure the user's driving experience, it is very important to avoid positioning drift and deviation.

[0003] In the prior art, the traditional method for calibrating the vehicle positioning trajectory is to calibrate the positioning trajectory by inertial navigation using devices such as accelerometers and gyroscopes installed on the vehicle when the vehicle enters a drifting section.

[0004] However, in the prior art, all vehicles are equipped with accelerometers and gyroscopes to perform positioning trajectory calibration using inertial navigation. This will lead to error accumulation during long-term use, a gradual decrease in accuracy, and an increase in vehicle manufacturing costs. Summary of the invention

[0005] The present application provides a vehicle positioning trajectory calibration method, device, server and storage medium to solve the problem that installing accelerometers and gyroscopes on all vehicles and performing positioning trajectory calibration by inertial navigation will lead to error accumulation, gradual decrease in accuracy and increased vehicle manufacturing costs during long-term use.

[0006] In a first aspect, the present application provides a vehicle positioning trajectory calibration method, which is applied to a server, comprising:

[0007] Receiving the positioning coordinates collected by the vehicle locator sent by any vehicle, and judging whether the vehicle is close to the pre-marked drift section according to the positioning coordinates;

[0008] If it is determined that the vehicle is approaching the drifting section, continue to determine whether the vehicle locator loses lock;

[0009] If the vehicle locator has not lost the lock, the coordinates of the starting point and the ending point of each straight road segment in the road network segment corresponding to the drifting road segment are retrieved from a preset database, wherein the road network segment can be refined into one or more straight road segments;

[0010] When the vehicle passes through each straight road section in sequence, the coordinates of the middle points of each straight road section collected by the locator are randomly obtained;

[0011] Calculating each drift distance of the vehicle locator according to the coordinates of the starting point, the end point and the middle point corresponding to each straight road segment;

[0012] The vehicle positioning track in the drift section is calibrated according to the drift distances.

[0013] In one possible design, the process of marking the drifting road section includes: receiving road section drift information collected by any vehicle, wherein the road section drift information is generated when the error between the mileage data of the vehicle odometer and the positioning distance of the vehicle locator is continuously greater than a first preset threshold value during normal driving of the vehicle; determining the positioning trajectory and road network segment corresponding to the vehicle locator according to the road section drift information; randomly determining a preset number of positioning points according to the positioning trajectory, and obtaining the coordinates of each positioning point; calculating the distance from each positioning point to the road network segment according to the coordinates of each positioning point and the road network segment; calculating the root mean square error between each positioning point and the road network segment according to the distance from each positioning point to the road network segment; judging whether the root mean square error is greater than a second preset threshold value; if it is determined that the root mean square error is greater than the second preset threshold value, marking the road network segment as a drifting road section.

[0014] In one possible design, the distance from each positioning point to the road network segment is calculated based on the coordinates of each positioning point and the road network segment, including: determining a target point that is closest to any positioning point and the road network segment, wherein the target point is on the center line of the road network segment; obtaining the coordinates of the target point, and calculating the distance from the positioning point to the road network segment based on the coordinates of the positioning point and the coordinates of the target point.

[0015] In a possible design, the distance between the positioning point and the road network segment is calculated according to the coordinates of the positioning point and the coordinates of the target point, and the calculation formula is:

[0016]

[0017] In the formula, is the distance between the positioning point and the road network segment; is the radius of the earth; the coordinates of the positioning point are , is the dimension of the positioning point, is the longitude of the positioning point; the coordinates of the target point are , is the dimension of the target point, is the longitude of the target point.

[0018] In a possible design, the root mean square error between each positioning point and the road network segment is calculated according to the distance from each positioning point to the road network segment, and the calculation formula is:

[0019]

[0020] In the formula, is the root mean square error between each positioning point and the road network segment; is the average value of the distances from each positioning point to the road network segment; is the distance from each positioning point to the road network segment; is the number of each positioning point; is the tth positioning point.

[0021] In a possible design, the drift distances of the vehicle locator are calculated based on the coordinates of the starting point, the end point and the middle point corresponding to each straight line segment, including: constructing a triangular coordinate system based on the starting point, the end point and the middle point corresponding to any straight line segment, and drawing a perpendicular line with the middle point as the vertex, and generating a perpendicular point through the connecting line of the starting point and the end point; determining the coordinates of the perpendicular point based on the coordinates of the starting point and the end point; calculating the distance from the middle point to the straight line segment based on the coordinates of the middle point and the coordinates of the perpendicular point, and using the distance from the middle point to the straight line segment as the drift distance of the vehicle locator.

[0022] In a possible design, after continuing to determine whether the vehicle locator has lost lock if it is determined that the vehicle is approaching the drift section, it also includes: if the vehicle locator loses lock, retrieving the drift section from a preset database, and obtaining a first key point before the vehicle loses lock, and a second key point after the vehicle regains lock; obtaining the coordinates of the first key point and the coordinates of the second key point; and controlling the vehicle odometer to perform dead reckoning on the drift section based on the coordinates of the first key point and the coordinates of the second key point to calibrate the vehicle positioning trajectory in the drift section.

[0023] In a second aspect, the present application provides a vehicle positioning trajectory calibration device, which is applied to a server, comprising:

[0024] A first judgment module is used to receive the positioning coordinates collected by the vehicle locator sent by any vehicle, and judge whether the vehicle is close to the pre-marked drift section according to the positioning coordinates;

[0025] A second judgment module is used for continuing to judge whether the vehicle locator loses locking if it is determined that the vehicle is approaching the drifting section;

[0026] A first retrieving module is used to retrieve the coordinates of the starting point and the end point of each straight road segment in the road network segment corresponding to the drifting road segment from a preset database if the vehicle locator has not lost the lock, wherein the road network segment can be refined into one or more straight road segments;

[0027] A first acquisition module, used for randomly acquiring the coordinates of the middle points of each straight road section collected by the locator when the vehicle passes through each straight road section in sequence;

[0028] A first calculation module, used for calculating each drift distance of the vehicle locator according to the coordinates of the starting point, the end point and the middle point corresponding to each straight road segment;

[0029] The first calibration module is used to calibrate the vehicle positioning trajectory in the drift section according to the drift distances.

[0030] In a third aspect, the present application provides a server, comprising: at least one processor and a memory;

[0031] The memory stores computer-executable instructions;

[0032] The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor performs the vehicle positioning trajectory calibration method as described in the first aspect and various possible designs of the first aspect.

[0033] In a fourth aspect, the present application provides a computer storage medium, in which computer execution instructions are stored. When a processor executes the computer execution instructions, the vehicle positioning trajectory calibration method described in the first aspect and various possible designs of the first aspect is implemented.

[0034] The vehicle positioning trajectory calibration method, device, server and storage medium provided in the present application determine that the vehicle is approaching a drifting section and that the vehicle locator has not lost lock, and retrieve the coordinates of the starting point and the end point of each straight section in the road network section corresponding to the drifting section from a preset database; when the vehicle passes through each straight section sequentially, randomly obtain the coordinates of the middle point of each straight section collected by the locator; calculate each drift distance of the vehicle locator according to the coordinates of the starting point, the end point and the middle point corresponding to each straight section; calibrate the vehicle positioning trajectory according to each drift distance, so that the accuracy of the vehicle locator can remain stable during long-term use, and reduce the cost of vehicle manufacturing. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0036] Figure 1 A schematic diagram of an application scenario of the vehicle positioning trajectory calibration method provided in an embodiment of the present application;

[0037] Figure 2 Schematic diagram of the vehicle positioning trajectory calibration method provided in the embodiment of the present application Figure 1 ;

[0038] Figure 3 Schematic diagram of the vehicle positioning trajectory calibration method provided in the embodiment of the present application Figure 2 ;

[0039] Figure 4 A schematic diagram of the structure of a vehicle positioning trajectory calibration device provided in an embodiment of the present application;

[0040] Figure 5 A schematic diagram of the hardware structure of the server provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0042] The vehicle locator often has the phenomenon of positioning drift when locating the vehicle, which is caused by factors such as satellite signal obstruction, multipath effect, signal interference or receiver error itself. The principle of GPS positioning is to calculate the position of the receiver by trigonometric formula by receiving the ephemeris parameters and time information transmitted by the satellite. In actual use, various factors will affect the positioning accuracy of GPS to cause road section drift. Therefore, in order to ensure the user's driving experience, it is very important to avoid positioning drift and deviation. In the prior art, the traditional vehicle positioning trajectory calibration method is to calibrate the positioning trajectory by inertial navigation through devices such as accelerometers and gyroscopes installed on the vehicle when the vehicle enters the drifting section. However, in the prior art, by installing accelerometers and gyroscopes for all vehicles, the positioning trajectory calibration is performed by inertial navigation, which will lead to error accumulation during long-term use, and the accuracy will gradually decrease, and the cost of manufacturing the vehicle will be increased.

[0043] In order to solve the above technical problems, the embodiments of the present application propose the following technical concepts: the inventor takes into account the pre-marked drift sections, and collects the coordinates of the corresponding starting point and the coordinates of the end point for each straight section in the road network section corresponding to the drift section, and collects the corresponding intermediate points and coordinates when the vehicle passes through each straight section. The coordinates of the starting point, the end point and the intermediate point corresponding to each straight section are used to calculate the drift distances of the vehicle locator to calibrate the vehicle positioning trajectory, so that the accuracy can remain stable during long-term use and the cost of vehicle manufacturing is reduced.

[0044] Figure 1 It is a schematic diagram of an application scenario of the vehicle positioning trajectory calibration method provided in an embodiment of the present application.

[0045] like Figure 1 As shown, the scenario includes: a vehicle locator 101 , a server 102 and a display terminal 103 .

[0046] The vehicle locator 101 is a GPS.

[0047] The server 102 may be an independent server or a cluster consisting of multiple servers.

[0048] The display terminal 103 may be a vehicle display screen or a mobile terminal.

[0049] The server 102 receives the positioning coordinates collected by the vehicle locator 101 sent by the vehicle, and when it is determined that the vehicle is close to the drifting section according to the positioning coordinates and the vehicle locator has not lost the lock, the coordinates of the starting point and the end point of each straight section in the road network section corresponding to the drifting section are retrieved; when the vehicle passes through each straight section in sequence, the coordinates of the middle point of each straight section collected by the locator are randomly obtained, and the drift distances of the vehicle locator are calculated according to the coordinates of the starting point, the end point and the middle point corresponding to each straight section, so as to calibrate the vehicle positioning trajectory; the calibrated vehicle positioning trajectory is displayed through the display terminal 103. The following is a detailed description using a detailed embodiment.

[0050] Figure 2 Schematic diagram of the vehicle positioning trajectory calibration method provided in the embodiment of the present application Figure 1 , the execution subject of this embodiment can be Figure 1 The server in the embodiment shown is not particularly limited in this embodiment. Figure 2 As shown, the method includes:

[0051] S201: receiving positioning coordinates collected by a vehicle locator sent by any vehicle, and determining whether the vehicle is close to a pre-marked drift section according to the positioning coordinates.

[0052] In this embodiment, the elements in the positioning coordinates are longitude and latitude.

[0053] In this embodiment, the process of marking the drifting section specifically includes:

[0054] S2011: receiving road section drift information collected by any vehicle, wherein the road section drift information is generated when the error between the mileage data of the vehicle odometer and the positioning distance of the vehicle locator is continuously greater than a first preset threshold value during normal driving of the vehicle.

[0055] In this embodiment, the first preset threshold may be any value of 5 m, 10 m or 20 m, or other values.

[0056] In this embodiment, the odometer (ODO) is an instrument for recording the real-time mileage of a vehicle, and its working principle is usually to calculate the distance traveled by the vehicle by counting the number of tire rotations. The mileage data can usually be obtained in real time by accessing the vehicle's CAN bus.

[0057] In this embodiment, the vehicle locator (GPS) is used to view the vehicle's location, driving route, speed, and stop location and time in real time.

[0058] S2012: Determine the positioning trajectory and road network segment corresponding to the vehicle locator according to the road segment drift information.

[0059] In this embodiment, the road network segment is composed of road geometry, coordinate data, road attributes, connection relationships and other related information.

[0060] In this embodiment, the road network segment is generated by an open source map platform or a non-open source commercial map platform.

[0061] In this embodiment, the positioning trajectory is in a drifting state and does not overlap with the road network segment.

[0062] S2013: randomly determining a preset number of positioning points according to the positioning trajectory, and obtaining the coordinates of each positioning point.

[0063] In this embodiment, the preset number may be any number among 2, 3 or 5, or any other number.

[0064] In this embodiment, the coordinates of the positioning point are longitude and latitude.

[0065] S2014: Calculate the distance from each positioning point to the road network segment according to the coordinates of each positioning point and the road network segment.

[0066] In this embodiment, step S2014 specifically includes:

[0067] S20141: Determine the target point that is closest to any positioning point and the road network segment, where the target point is on the center line of the road network segment.

[0068] Specifically, the target point that is closest to any positioning point and the road network segment is determined by the point-to-line distance formula.

[0069] S20142: Obtain the coordinates of the target point, and calculate the distance between the positioning point and the road network segment according to the coordinates of the positioning point and the coordinates of the target point.

[0070] In this embodiment, the distance between the positioning point and the road network segment is calculated according to the coordinates of the positioning point and the coordinates of the target point. The calculation formula is:

[0071]

[0072] In the formula, is the distance between the positioning point and the road network segment; is the radius of the earth; the coordinates of the positioning point are , is the dimension of the anchor point, is the longitude of the positioning point; the coordinates of the target point are , is the dimension of the target point, is the longitude of the target point.

[0073] S2015: Calculate the root mean square error between each positioning point and the road network segment according to the distance from each positioning point to the road network segment.

[0074] In this embodiment, the root mean square error between each positioning point and the road network segment is calculated according to the distance from each positioning point to the road network segment, and the calculation formula is:

[0075]

[0076] In the formula, is the root mean square error of each positioning point and road network segment; is the average distance from each positioning point to the road network segment; is the distance from each positioning point to the road network segment; is the number of each positioning point; is the tth positioning point.

[0077] S2016: Determine whether the root mean square error is greater than a second preset threshold.

[0078] In this embodiment, the second preset threshold may be any value among 0.1, 0.2 or 0.3, or other values.

[0079] S2017: If it is determined that the root mean square error is greater than a second preset threshold, the road network segment is marked as a drifting segment.

[0080] S202: If it is determined that the vehicle is approaching a drifting section, continue to determine whether the vehicle locator has lost lock.

[0081] In this embodiment, the vehicle locator losing lock refers to a state in which the vehicle locator cannot receive satellite signals for positioning.

[0082] S203: If the vehicle locator has not lost lock, the coordinates of the starting point and the end point of each straight road segment in the road network segment corresponding to the drifting road segment are retrieved from a preset database, wherein the road network segment can be refined into one or more straight road segments.

[0083] In this embodiment, if the vehicle locator has not lost its lock, it can be determined that the vehicle has entered a location with many obstructions, such as a city.

[0084] In this embodiment, the preset database may be a road network data packet or other databases.

[0085] S204: When the vehicle passes through each straight road section in sequence, the coordinates of the middle points of each straight road section collected by the locator are randomly obtained.

[0086] In this embodiment, there may be multiple intermediate points, which need to be determined according to actual conditions.

[0087] S205: Calculate each drift distance of the vehicle locator according to the coordinates of the starting point, the end point and the middle point corresponding to each straight road segment.

[0088] In this embodiment, step S205 specifically includes:

[0089] S2051: construct a triangular coordinate system according to the starting point, end point and middle point corresponding to any straight line segment, draw a perpendicular line with the middle point as the vertex, and generate a perpendicular point through the connecting line of the starting point and the end point.

[0090] In this embodiment, the coordinates of the middle point, the coordinates of the starting point, and the coordinates of the vertical point are all longitude and latitude.

[0091] S2052: Determine the coordinates of the vertical point according to the coordinates of the starting point and the coordinates of the end point.

[0092] In this embodiment, the coordinates of the vertical point are longitude and latitude.

[0093] S2053: Calculate the distance from the middle point to the straight section according to the coordinates of the middle point and the coordinates of the vertical point, and use the distance from the middle point to the straight section as the drift distance of the vehicle locator.

[0094] Specifically, according to the formula for calculating the distance according to the longitude and latitude of two points in S20142, the distance from the middle point to the straight line section is calculated.

[0095] S206: Calibrate the vehicle positioning trajectory in the drift section according to each drift distance.

[0096] Specifically, the vehicle positioning track in the drift section is calibrated according to each drift distance, and the calibrated vehicle positioning track is displayed.

[0097] In summary, the vehicle positioning trajectory calibration method provided in the present embodiment determines that the vehicle is approaching a drifting section and that the vehicle locator has not lost lock, and retrieves the coordinates of the starting point and the end point of each straight section in the road network section corresponding to the drifting section from a preset database; when the vehicle passes through each straight section sequentially, the coordinates of the middle point of each straight section collected by the locator are randomly obtained; the drift distances of the vehicle locator are calculated according to the coordinates of the starting point, the end point and the middle point corresponding to each straight section; the vehicle positioning trajectory is calibrated according to each drift distance, so that the accuracy of the vehicle locator can remain stable during long-term use, and the cost of vehicle manufacturing is reduced.

[0098] Figure 3 Schematic diagram of the vehicle positioning trajectory calibration method provided in the embodiment of the present application Figure 2 In the embodiment of the present application, Figure 2 Based on the embodiment provided, a specific implementation method for calibrating the drifting road section according to the vehicle odometer after step S202 is described in detail. Figure 3 As shown, the method includes:

[0099] S301: receiving positioning coordinates collected by a vehicle locator sent by any vehicle, and judging whether the vehicle is close to a pre-marked drift section according to the positioning coordinates.

[0100] In this embodiment, the discussion on the positioning coordinates and the drifting section has been described in detail in step S201 and will not be repeated here.

[0101] S302: If it is determined that the vehicle is approaching a drifting section, continue to determine whether the vehicle locator has lost lock.

[0102] In this embodiment, the discussion on the vehicle locator losing lock has been described in detail in step S202, which will not be repeated here.

[0103] S303: If the vehicle locator loses lock, the drift section is retrieved from the preset database, and the first key point before the vehicle loses lock and the second key point after the vehicle regains lock are obtained.

[0104] In this embodiment, if the vehicle locator loses lock, it can be determined that the vehicle has entered an underground route such as a tunnel.

[0105] In this embodiment, the discussion on the preset database has been described in detail in step S203 and will not be repeated here.

[0106] In this embodiment, the first key point may be the last positioning point before the vehicle loses locking; the second key point may be the first positioning point after the vehicle regains locking.

[0107] S304: Obtain the coordinates of the first key point and the coordinates of the second key point.

[0108] Specifically, the coordinates of the first key point and the coordinates of the second key point are obtained in conjunction with the open map platform.

[0109] S305: According to the coordinates of the first key point and the coordinates of the second key point, control the vehicle odometer to perform dead reckoning on the drifting section to calibrate the vehicle positioning trajectory in the drifting section.

[0110] In this embodiment, dead reckoning is a method of calculating the coordinates at the next moment by measuring the distance and direction moved by the vehicle under the condition that the coordinates at the current moment are known.

[0111] In summary, the vehicle positioning trajectory calibration method provided in this embodiment, if it is determined that the vehicle locator has lost lock, then the drift section is retrieved, and the first key point before the vehicle loses lock and the second key point after the vehicle regains lock are obtained; the coordinates of the first key point and the coordinates of the second key point are obtained; according to the coordinates of the first key point and the coordinates of the second key point, the vehicle odometer is controlled to perform dead reckoning on the drift section to calibrate the vehicle positioning trajectory in the drift section, so that when the vehicle locator cannot be used normally, the positioning accuracy can remain stable and the vehicle manufacturing cost is reduced.

[0112] Figure 4 This is a schematic diagram of the structure of the vehicle positioning trajectory calibration device provided in the embodiment of the present application. Figure 4 As shown, the vehicle positioning trajectory calibration device includes: a first judgment module 401, a second judgment module 402, a first retrieval module 403, a first acquisition module 404, a first calculation module 405 and a first calibration module 406.

[0113] The first judgment module 401 is used to receive the positioning coordinates collected by the vehicle locator sent by any vehicle, and judge whether the vehicle is close to the pre-marked drift section according to the positioning coordinates;

[0114] A second determination module 402 is configured to continue determining whether the vehicle locator loses lock if it is determined that the vehicle is approaching the drifting section;

[0115] A first retrieving module 403 is used to retrieve the coordinates of the starting point and the end point of each straight road segment in the road network segment corresponding to the drifting road segment from a preset database if the vehicle locator has not lost the lock, wherein the road network segment can be refined into one or more straight road segments;

[0116] The first acquisition module 404 is used to randomly acquire the coordinates of the middle points of each straight road segment collected by the locator when the vehicle passes through each straight road segment in sequence;

[0117] A first calculation module 405 is used to calculate each drift distance of the vehicle locator according to the coordinates of the starting point, the end point and the middle point corresponding to each straight road segment;

[0118] The first calibration module 406 is used to calibrate the vehicle positioning trajectory in the drift section according to the drift distances.

[0119] In a possible implementation manner, the device further includes:

[0120] The receiving module 407 is used to receive the road section drift information collected by any vehicle, wherein the road section drift information is generated when the error between the mileage data of the vehicle odometer and the positioning distance of the vehicle locator is continuously greater than a first preset threshold value during normal driving of the vehicle;

[0121] A determination module 408, configured to respectively determine the positioning track and the road network segment corresponding to the vehicle locator according to the road segment drift information;

[0122] A second acquisition module 409 is used to randomly determine a preset number of positioning points according to the positioning trajectory, and obtain the coordinates of each positioning point;

[0123] A second calculation module 410, configured to calculate the distance from each positioning point to the road network segment according to the coordinates of each positioning point and the road network segment;

[0124] A third calculation module 411 is used to calculate the root mean square error between each positioning point and the road network segment according to the distance from each positioning point to the road network segment;

[0125] A third judgment module 412 is used to judge whether the root mean square error is greater than a second preset threshold;

[0126] The marking module 413 is used to mark the road network segment as a drifting segment if it is determined that the root mean square error is greater than a second preset threshold.

[0127] In a possible implementation, the second calculation module 410 specifically includes:

[0128] A determination unit 4101 is used to determine a target point that is closest to any positioning point and the road network segment, wherein the target point is on the center line of the road network segment;

[0129] The calculation unit 4102 is used to obtain the coordinates of the target point, and calculate the distance between the positioning point and the road network segment according to the coordinates of the positioning point and the coordinates of the target point.

[0130] In a possible implementation, the distance between the positioning point and the road network segment is calculated according to the coordinates of the positioning point and the coordinates of the target point, and the calculation formula is:

[0131]

[0132] In the formula, is the distance between the positioning point and the road network segment; is the radius of the earth; the coordinates of the positioning point are , is the dimension of the positioning point, is the longitude of the positioning point; the coordinates of the target point are , is the dimension of the target point, is the longitude of the target point.

[0133] In a possible implementation, the calculation formula for calculating the root mean square error between each positioning point and the road network segment according to the distance from each positioning point to the road network segment is:

[0134]

[0135] In the formula, is the root mean square error between each positioning point and the road network segment; is the average value of the distances from each positioning point to the road network segment; is the distance from each positioning point to the road network segment; is the number of each positioning point; is the tth positioning point.

[0136] In a possible implementation, the first calculation module 405 specifically includes:

[0137] A construction unit 4051 is used to construct a triangular coordinate system according to the starting point, the end point and the middle point corresponding to any straight line segment, and to draw a vertical line with the middle point as the vertex, and to generate a vertical point through the connecting line of the starting point and the end point;

[0138] A determination unit 4052, configured to determine the coordinates of the vertical point according to the coordinates of the starting point and the coordinates of the end point;

[0139] The calculation unit 4053 is used to calculate the distance from the middle point to the straight section according to the coordinates of the middle point and the coordinates of the vertical point, and use the distance from the middle point to the straight section as the drift distance of the vehicle locator.

[0140] In a possible implementation manner, the device further includes:

[0141] A second retrieval module 414 is used to retrieve the drifting section from a preset database if the vehicle locator loses lock, and obtain a first key point before the vehicle loses lock, and a second key point after the vehicle regains lock;

[0142] A third acquisition module 415 is used to acquire the coordinates of the first key point and the coordinates of the second key point;

[0143] The dead reckoning module 416 is used to control the vehicle odometer to perform dead reckoning on the drifting section according to the coordinates of the first key point and the coordinates of the second key point, so as to calibrate the vehicle positioning trajectory in the drifting section.

[0144] The device provided in this embodiment can be used to execute the technical solution of the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be repeated here.

[0145] Figure 5 The hardware structure diagram of the server provided in the embodiment of the present application is shown in FIG. Figure 5 As shown, the server of this embodiment includes: a processor 501 and a memory 502; the memory stores computer-executable instructions; at least one processor executes the computer-executable instructions stored in the memory, so that at least one processor executes the above vehicle positioning trajectory calibration method.

[0146] Optionally, the memory 502 may be independent or integrated with the processor 501 .

[0147] When the memory 502 is independently provided, the server further includes a bus 503 for connecting the memory 502 and the processor 501 .

[0148] An embodiment of the present application further provides a computer storage medium, in which computer execution instructions are stored. When a processor executes the computer execution instructions, the vehicle positioning trajectory calibration method as described above is implemented.

[0149] An embodiment of the present application also provides a computer program product, including a computer program, and when the computer program is executed by a processor, the vehicle positioning trajectory calibration method as described above is implemented.

[0150] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0151] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to implement the solution of this embodiment.

[0152] In addition, each functional module in each embodiment of the present application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The above-mentioned module-composed unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0153] The above-mentioned integrated module implemented in the form of a software function module can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform some steps of the method described in each embodiment of the present application.

[0154] It should be understood that the above processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor.

[0155] The memory may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a magnetic disk or an optical disk, etc.

[0156] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0157] The above storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium may be any available medium that can be accessed by a general or special purpose computer.

[0158] An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the storage medium can also exist as discrete components in an electronic device or a main control device.

[0159] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0160] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle positioning trajectory calibration method, characterized in that: Applicable to servers, including: Receiving the positioning coordinates collected by the vehicle locator sent by any vehicle, and judging whether the vehicle is close to the pre-marked drift section according to the positioning coordinates; If it is determined that the vehicle is approaching the drifting section, continue to determine whether the vehicle locator loses lock; If the vehicle locator has not lost the lock, the coordinates of the starting point and the ending point of each straight road segment in the road network segment corresponding to the drifting road segment are retrieved from a preset database, wherein the road network segment can be refined into one or more straight road segments; When the vehicle passes through each straight road section in sequence, the coordinates of the middle points of each straight road section collected by the locator are randomly obtained; Calculating each drift distance of the vehicle locator according to the coordinates of the starting point, the end point and the middle point corresponding to each straight road segment; The vehicle positioning track in the drift section is calibrated according to the drift distances.

2. The method according to claim 1, characterized in that The marking process of the drifting section includes: Receiving road section drift information collected by any vehicle, wherein the road section drift information is generated when the error between the mileage data of the vehicle odometer and the positioning distance of the vehicle locator is continuously greater than a first preset threshold value during normal driving of the vehicle; Determine the positioning track and road network segment corresponding to the vehicle locator respectively according to the road section drift information; Randomly determine a preset number of positioning points according to the positioning trajectory, and obtain the coordinates of each positioning point; Calculating the distance from each positioning point to the road network segment according to the coordinates of each positioning point and the road network segment; Calculating the root mean square error between each positioning point and the road network segment according to the distance from each positioning point to the road network segment; Determining whether the root mean square error is greater than a second preset threshold; If it is determined that the root mean square error is greater than a second preset threshold, the road network segment is marked as a drifting segment.

3. The method according to claim 2, characterized in that The calculating the distance from each positioning point to the road network segment according to the coordinates of each positioning point and the road network segment comprises: Determine a target point that is closest to any positioning point and the road network segment, wherein the target point is on the center line of the road network segment; The coordinates of the target point are obtained, and the distance between the positioning point and the road network segment is calculated according to the coordinates of the positioning point and the coordinates of the target point.

4. The method according to claim 3, characterized in that The distance between the positioning point and the road network segment is calculated according to the coordinates of the positioning point and the coordinates of the target point, and the calculation formula is: In the formula, is the distance between the positioning point and the road network segment; is the radius of the earth; the coordinates of the positioning point are , is the dimension of the positioning point, is the longitude of the positioning point; the coordinates of the target point are , is the dimension of the target point, is the longitude of the target point.

5. The method according to claim 2, characterized in that: The calculation formula for calculating the root mean square error between each positioning point and the road network segment according to the distance from each positioning point to the road network segment is: In the formula, is the root mean square error between each positioning point and the road network segment; is the average value of the distances from each positioning point to the road network segment; is the distance from each positioning point to the road network segment; is the number of each positioning point; is the tth positioning point.

6. The method according to claim 1, characterized in that The step of calculating the drift distances of the vehicle locator according to the coordinates of the starting point, the end point and the middle point corresponding to each straight road segment includes: Construct a triangular coordinate system according to the starting point, end point and middle point corresponding to any straight line segment, and draw a vertical line with the middle point as the vertex, and generate a vertical point through the connecting line of the starting point and the end point; Determine the coordinates of the vertical point according to the coordinates of the starting point and the coordinates of the end point; The distance from the middle point to the straight road section is calculated according to the coordinates of the middle point and the coordinates of the vertical point, and the distance from the middle point to the straight road section is used as the drift distance of the vehicle locator.

7. The method according to any one of claims 1 to 6, characterized in that: After the step of determining whether the vehicle locator loses lock if the vehicle is close to the drifting section, the method further includes: If the vehicle locator loses lock, the drifting road section is retrieved from a preset database, and a first key point before the vehicle loses lock and a second key point after the vehicle regains lock are obtained; Obtaining the coordinates of the first key point and the coordinates of the second key point; According to the coordinates of the first key point and the coordinates of the second key point, the vehicle odometer is controlled to perform dead reckoning on the drifting section to calibrate the vehicle positioning trajectory in the drifting section.

8. A vehicle positioning trajectory calibration device, characterized in that: Applicable to servers, including: A first judgment module is used to receive the positioning coordinates collected by the vehicle locator sent by any vehicle, and judge whether the vehicle is close to the pre-marked drift section according to the positioning coordinates; A second judgment module is used for continuing to judge whether the vehicle locator loses locking if it is determined that the vehicle is approaching the drifting section; A first retrieving module is used to retrieve the coordinates of the starting point and the end point of each straight road segment in the road network segment corresponding to the drifting road segment from a preset database if the vehicle locator has not lost the lock, wherein the road network segment can be refined into one or more straight road segments; A first acquisition module, used for randomly acquiring the coordinates of the middle points of each straight road section collected by the locator when the vehicle passes through each straight road section in sequence; A first calculation module, used for calculating each drift distance of the vehicle locator according to the coordinates of the starting point, the end point and the middle point corresponding to each straight road segment; The first calibration module is used to calibrate the vehicle positioning trajectory in the drift section according to the drift distances.

9. A server, characterized in that: include: at least one processor and memory; The memory stores computer-executable instructions; The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the vehicle positioning trajectory calibration method as described in any one of claims 1 to 7.

10. A computer storage medium, characterized in that: The computer storage medium stores computer executable instructions, and when the processor executes the computer executable instructions, the vehicle positioning trajectory calibration method as described in any one of claims 1 to 7 is implemented.

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