GPS offset determination method and device, equipment, medium, product and vehicle

Abstract

The invention provides a GPS offset determination method and device, equipment, a medium, a product and a vehicle. The method comprises the following steps: acquiring a navigation planning route of a vehicle; acquiring a driving track and GPS positioning data of the vehicle under the condition that the vehicle travels according to the navigation planning route; and determining a GPS offset result according to the navigation planning route, the driving track and the GPS positioning data. The technical problem that whether GPS positioning deviates or not is difficult to determine in a complex environment is solved, and the accuracy of vehicle navigation is improved.

Description

Technical Field

[0001] The present application belongs to the field of vehicle navigation technology, and in particular, relates to a method, device, equipment, medium, product and vehicle for determining a global positioning system (GPS) offset. Background Art

[0002] With the development of in-car navigation and the popularization of new energy vehicles, GPS navigation systems are being used more and more frequently in cars.

[0003] However, when a vehicle travels through complex environments such as viaducts, the positioning accuracy of the GPS navigation system is often limited, and the GPS positioning is prone to drift, causing the vehicle navigation to re-plan the route for the vehicle based on the offset GPS positioning, interfering with the user's normal driving and affecting the user's driving safety.

[0004] How to determine whether GPS positioning has deviated in a complex environment is a technical problem that needs to be solved urgently. Summary of the invention

[0005] The embodiments of the present application provide a GPS offset determination method, apparatus, device, storage medium and computer program product, which solve the technical problem of difficulty in determining whether GPS positioning is offset in complex environments and improve the accuracy of vehicle navigation.

[0006] In a first aspect, an embodiment of the present application provides a method for determining a GPS offset, the method comprising:

[0007] Obtain the vehicle's navigation planning route;

[0008] When the vehicle is traveling according to the navigation planning route, the vehicle's driving trajectory and GPS positioning data are obtained;

[0009] Determine the GPS offset result based on the navigation planning route, driving trajectory and GPS positioning data.

[0010] In a second aspect, an embodiment of the present application provides a GPS offset determination device, the device comprising:

[0011] An acquisition module is used to obtain the navigation planning route of the vehicle;

[0012] The acquisition module is also used to acquire the vehicle's driving trajectory and GPS positioning data when the vehicle is traveling according to the navigation planning route;

[0013] The determination module is used to determine the GPS offset result according to the navigation planning route, driving trajectory and GPS positioning data.

[0014] In a third aspect, an embodiment of the present application provides an electronic device, the device comprising:

[0015] A processor and a memory storing programs or instructions;

[0016] The above method is implemented when the processor executes the program or instruction.

[0017] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a program or instruction is stored, and the program or instruction implements the above method when executed by a processor.

[0018] In a fifth aspect, an embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the above method.

[0019] In a sixth aspect, an embodiment of the present application provides a vehicle, which includes at least one of the above-mentioned GPS offset determination device, an electronic device and a computer-readable storage medium.

[0020] In the embodiment of the present application, the navigation planning route of the vehicle, the driving trajectory of the vehicle and the GPS positioning data are obtained; the GPS deviation result is determined according to the navigation planning route, the driving trajectory and the GPS positioning data. Since the driving trajectory of the vehicle can reflect the actual movement route of the vehicle and will not be disturbed by the complex environment, it is possible to combine the navigation planning route of the vehicle, the driving trajectory of the vehicle and the GPS positioning data to determine whether the GPS has a positioning deviation, and in the case of determining that the GPS has a positioning deviation, the GPS is corrected according to the above data, thereby improving the accuracy of vehicle navigation. In addition, the corrected GPS positioning data can also be used as the input of the inertial navigation algorithm of the GPS positioning system, helping the GPS positioning system to reduce errors, thereby improving the overall positioning accuracy, reducing the navigation deviation problem caused by GPS drift, improving the user's driving safety, and ensuring the user's driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] Figure 1 is a flow chart of a method for determining a GPS offset according to an embodiment of the present invention;

[0023] Figure 2 is a schematic diagram of the overall process of a method for determining a GPS offset according to an embodiment of the present invention;

[0024] Figure 3 is a structural block diagram of a GPS offset determination device according to an embodiment of the present invention;

[0025] Figure 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0027] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0028] In addition, it should be noted that the acquisition, storage, use, and processing of data in the embodiments of this application are in compliance with the relevant provisions of national laws and regulations. It should be noted that in the embodiments of this application, some existing solutions in the industry such as certain software, components, and models may be mentioned, and they should be considered as exemplary. Their purpose is only to illustrate the feasibility of the implementation of the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.

[0029] In order to solve the technical problem that it is difficult to determine whether GPS positioning is offset in complex environments and improve the accuracy of vehicle navigation, an embodiment of the present application provides a GPS offset determination method, which can be applied to vehicles equipped with on-board navigation. Figure 1 FIG. 1 is a flow chart of a method for determining a GPS offset according to an embodiment of the present invention. Figure 1 As shown, the GPS offset determination method may include the following steps:

[0030] S110, obtaining the navigation planning route of the vehicle.

[0031] In S110, the system first receives the destination information input by the user, and uses the built-in map data and path planning algorithm to calculate the optimal navigation route from the current location to the destination. This route can take into account multiple factors such as road conditions, traffic rules, and driving time, aiming to provide the driver with an efficient and safe driving path.

[0032] S120, when the vehicle is traveling according to the navigation planning route, obtaining the vehicle's driving trajectory and GPS positioning data.

[0033] In S120, the driving trajectory of the vehicle is the actual driving trajectory of the vehicle without the aid of GPS, and may include information such as the location, speed, and direction of the vehicle.

[0034] Among them, the vehicle's driving trajectory route can be determined in a variety of ways. For example, the vehicle's precise position can be determined by using the vehicle's onboard camera or on-board radar to identify road lane lines, traffic lights, road signs and landmark buildings; the vehicle's speed information can be determined by the vehicle's wheel speed sensor or acceleration sensor; the vehicle's direction information can be determined by the vehicle's steering wheel steering angle information.

[0035] GPS positioning data can include precise location information such as the vehicle's longitude, latitude, altitude, etc.

[0036] S130, determining a GPS offset result according to the navigation planning route, the driving track and the GPS positioning data.

[0037] In S130, the GPS offset result can be used to indicate whether the GPS positioning offset occurs. It can be understood that the navigation planning route is the planned driving route of the vehicle, the driving trajectory of the vehicle is the current driving route of the vehicle calculated by the vehicle data, and the GPS positioning data is the current driving route of the vehicle calculated by the data of the GPS navigation system.

[0038] When a vehicle travels through complex environments such as viaducts, the positioning accuracy of the GPS navigation system will be limited, but the positioning accuracy of the vehicle's driving trajectory will not be affected.

[0039] Therefore, in some examples, when the driving trajectory is inconsistent with the GPS positioning data, it can be determined that the GPS has a positioning offset. When the driving trajectory is consistent with the navigation planning route, it is determined that the GPS has no positioning offset.

[0040] In other examples, in order to further improve the accuracy of the GPS offset result, the vehicle's driving trajectory can be used as the standard. When the driving trajectory is consistent with the navigation planning route and the driving trajectory is inconsistent with the GPS positioning data, it is determined that the GPS has a positioning offset. When the driving trajectory is consistent with the GPS positioning data and the driving trajectory is inconsistent with the navigation planning route, it is determined that the GPS has not a positioning offset, but the vehicle has deviated from the navigation planning route. When the driving trajectory, the navigation planning route, and the GPS positioning data are consistent, it is determined that the GPS has not a positioning offset and the vehicle has not deviated from the navigation planning route.

[0041] For the above three situations, when it is determined that the GPS has a positioning deviation, the GPS can be corrected for the accuracy of vehicle navigation; when the GPS has not a positioning deviation but the vehicle has deviated, the route can be replanned for the vehicle; when the GPS has not a positioning deviation and the vehicle has not deviated from the navigation planned route, the user is prompted to drive normally.

[0042] In the embodiment of the present application, the navigation planning route of the vehicle, the driving trajectory of the vehicle and the GPS positioning data are obtained; the GPS deviation result is determined according to the navigation planning route, the driving trajectory and the GPS positioning data. Since the driving trajectory of the vehicle can reflect the actual movement route of the vehicle and will not be disturbed by the complex environment, it is possible to combine the navigation planning route of the vehicle, the driving trajectory of the vehicle and the GPS positioning data to determine whether the GPS has a positioning deviation, and in the case of determining that the GPS has a positioning deviation, the GPS is corrected according to the above data, thereby improving the accuracy of vehicle navigation. In addition, the corrected GPS positioning data can also be used as the input of the inertial navigation algorithm of the GPS positioning system, helping the GPS positioning system to reduce errors, thereby improving the overall positioning accuracy, reducing the navigation deviation problem caused by GPS drift, improving the user's driving safety, and ensuring the user's driving safety.

[0043] In some embodiments, determining the GPS offset result based on the navigation planning route, the driving trajectory and the GPS positioning data includes:

[0044] When the driving trajectory is consistent with the navigation planned route, and the driving trajectory is inconsistent with the GPS positioning data, it is determined that the GPS positioning offset occurs.

[0045] In this embodiment, the system will perform a comprehensive analysis based on the previously acquired navigation planning route, the vehicle's driving trajectory and GPS positioning data.

[0046] First, the system checks whether the vehicle's driving trajectory is consistent with the navigation route, including comparing the road information, lane information, and possible traffic signs between the two to ensure that the vehicle is driving along the planned route.

[0047] Next, the system will further compare the vehicle's driving trajectory with the GPS positioning data. If the GPS signal is blocked or interfered in complex environments such as under an elevated road, or the positioning accuracy is limited due to insufficient equipment performance, the GPS positioning data may be inconsistent with the driving trajectory. Specifically, even if the vehicle has actually been driving on the main road according to the planned route, the GPS positioning data may show that the vehicle has deviated from the main road due to signal problems.

[0048] In this case, when the driving trajectory is consistent with the navigation planning route, but inconsistent with the GPS positioning data, the system can determine that the GPS positioning has deviated. At this time, the system will not mistakenly believe that the vehicle has deviated due to the wrong GPS positioning, nor will it re-plan the route or issue a deviation reminder to the user, thus avoiding trouble to the user and affecting driving safety.

[0049] In this way, the system can effectively identify the positioning deviation problem of GPS in complex environments such as under elevated roads, providing a basis for the subsequent use of the navigation's own positioning data to correct the positioning data of the GPS device, while also ensuring driving safety.

[0050] In some embodiments, after determining that the GPS positioning offset occurs, the method further includes:

[0051] The GPS positioning data is corrected according to the driving trajectory.

[0052] In this embodiment, if the system determines that the GPS positioning deviation exists (i.e. the driving trajectory is consistent with the navigation planning route, but inconsistent with the GPS positioning data), the vehicle's driving trajectory information can be used to correct the GPS positioning data. This correction process can be achieved by the following steps:

[0053] First, the system can accurately match and compare the vehicle's driving trajectory data with the GPS positioning data. This includes comparing the location information of the two in time series, such as latitude and longitude, speed, etc., to find the difference between the two.

[0054] Secondly, through comparative analysis, the system can identify the deviation pattern of GPS positioning data. This may include determining the direction, magnitude and possible causes of the deviation (such as signal interference under the viaduct, etc.).

[0055] Then, based on the identified deviation pattern, the system applies a correction algorithm to adjust the GPS positioning data. The correction algorithm can combine information about the navigation plan route, such as road shape, lane information, etc., and the vehicle's driving status (such as speed, steering angle, etc.) to more accurately infer the vehicle's actual position.

[0056] Finally, after the correction is completed, the system can verify the new GPS positioning data to ensure that it is consistent with the vehicle's driving trajectory and navigation planning route.

[0057] In addition, the corrected GPS positioning data can also be used as input to the inertial navigation algorithm of the GPS positioning system, helping the GPS positioning system to reduce errors and improve overall positioning accuracy.

[0058] In this way, the system can reduce navigation deviation problems caused by GPS drift, thereby ensuring driving safety.

[0059] In some embodiments, determining the GPS offset result based on the navigation planning route, the driving trajectory and the GPS positioning data includes:

[0060] When the driving trajectory is consistent with the GPS positioning data and the driving trajectory is inconsistent with the navigation planning route, it is determined that the vehicle deviates from the navigation planning route;

[0061] Regenerate the navigation planning route based on the driving trajectory and GPS positioning data.

[0062] In this embodiment, when the driving trajectory is consistent with the GPS positioning data, and the driving trajectory is inconsistent with the navigation planning route, it can be determined first that the GPS positioning data is not offset, but the user's driving trajectory deviates from the navigation route. This may be because the driver has chosen a different road, or because the navigation planning route is no longer the best choice due to some reasons (such as traffic congestion, road closure).

[0063] In this case, the navigation planning route can be regenerated based on the driving trajectory and GPS positioning data. This new route should be as close to the user's current location as possible and take into account the latest road conditions and traffic regulations. Then, the user is notified of the deviation in a timely manner through voice broadcast and / or screen display, and the regenerated navigation route is displayed. In this way, the user can quickly understand the current situation and make corresponding adjustments.

[0064] In this way, when the driving trajectory deviates from the navigation planning route and is consistent with the GPS positioning data, the flexibility of the navigation system is improved by replanning the route and notifying the user in time.

[0065] In some embodiments, obtaining the driving trajectory of the vehicle includes:

[0066] Acquire road marking data and vehicle movement data;

[0067] The vehicle's driving trajectory is calculated based on road marking data and vehicle motion data.

[0068] In this embodiment, the road marking data may come from a camera, a laser radar or other sensors on the vehicle, which can capture various markings on the road, such as lane lines, traffic signs, curbs, etc. The vehicle motion data may include the vehicle's speed, acceleration, steering angle, etc., and may be provided by the vehicle's own sensors (such as a speed sensor, an accelerometer, a gyroscope, etc.).

[0069] By acquiring road marking data and vehicle motion data, the system can calculate the vehicle's driving trajectory. The specific algorithms and data processing technologies involved, such as image processing, computer vision, machine learning, etc., are not limited to this.

[0070] The algorithm first analyzes the road marking data to determine the lane the vehicle is in, the direction of travel, and possible traffic restrictions (such as speed limits, prohibited turns, etc.). Then, combined with the vehicle motion data, the position, speed, and direction of the vehicle at each point in time are calculated.

[0071] Ultimately, by connecting these data points, the system is able to generate a continuous trajectory line representing the vehicle's path.

[0072] It is understood that by combining road marking data and vehicle motion data, the system can obtain the vehicle's driving trajectory in a more accurate and reliable way. This method not only improves the accuracy of the navigation system, but also helps to reduce positioning errors caused by unstable or interfered GPS signals. This method also enables the navigation system to better adapt to different road and traffic environments, providing users with a more personalized and intelligent navigation experience.

[0073] Figure 2 FIG. 1 is a schematic diagram of the overall flow of a method for determining a GPS offset according to an embodiment of the present invention. Figure 2 As shown, the following steps may be included:

[0074] S210, identifies lane information and traffic signs through a camera.

[0075] In S210, a camera on the vehicle may be used to capture road information. The camera may be able to recognize road marking data such as lane lines, traffic signs, road signs, and landmark buildings.

[0076] S220, obtaining vehicle condition information such as vehicle speed and steering wheel angle.

[0077] In S220, the system may collect vehicle motion data, including vehicle speed, acceleration, steering wheel angle and other vehicle condition information.

[0078] S230, obtaining positioning information of the GPS device.

[0079] In S230 , precise location information such as longitude, latitude, and altitude may be obtained from a GPS device on the vehicle.

[0080] S240, determining whether the vehicle trip is completed, if not, executing S250.

[0081] In S240, the system will continue to monitor the driving status of the vehicle and determine whether the trip has ended. If the trip has not ended, continue to the next step; if the trip has ended, stop the subsequent steps.

[0082] S250, determine whether the three are consistent. If the actual driving trajectory is consistent with the positioning of the GPS device but inconsistent with the planned route, execute S260; if the actual driving trajectory is consistent with the planned route but inconsistent with the positioning of the GPS device, execute S270.

[0083] In S250, the system compares the vehicle's driving trajectory (calculated based on the data collected in S210 and S220), the positioning information of the GPS device, and the navigation planned route.

[0084] The specific comparison logic is as follows: If the actual driving trajectory is consistent with the positioning of the GPS device but inconsistent with the navigation planning route, then execute S260. If the actual driving trajectory is consistent with the navigation planning route but inconsistent with the positioning of the GPS device, then execute S270.

[0085] S260, the user actively deviates and replans the route.

[0086] In S260, when the driving trajectory is inconsistent with the navigation planning route, but the positioning information of the GPS device is consistent with it, it can be determined that the user has actively deviated from the planned route. At this time, the system should re-plan a navigation route for the vehicle.

[0087] S270: The positioning of the GPS device is offset.

[0088] In S270, when the actual driving trajectory is consistent with the navigation planning route, but the positioning information of the GPS device is inconsistent with the two, it can be determined that the positioning of the GPS device has shifted.

[0089] S280, using the positioning data of the navigation itself to correct the positioning of the GPS device.

[0090] In S280, after confirming that the GPS device positioning is offset, the system can use the vehicle's driving trajectory information to correct the GPS positioning data.

[0091] Figure 3 A schematic structural diagram of a GPS offset determination device provided in another embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0092] Reference Figure 3 , the GPS offset determination device 300 may include:

[0093] The acquisition module 301 is used to acquire the navigation planning route of the vehicle;

[0094] The acquisition module 301 is also used to acquire the vehicle's driving trajectory and GPS positioning data when the vehicle travels according to the navigation planning route;

[0095] The determination module 302 is used to determine the GPS offset result according to the navigation planning route, the driving track and the GPS positioning data.

[0096] In some embodiments, the determination module 302 may also be used to:

[0097] When the driving trajectory is consistent with the navigation planned route, and the driving trajectory is inconsistent with the GPS positioning data, it is determined that the GPS positioning offset occurs.

[0098] In some embodiments, the GPS offset determination device 300 may further include:

[0099] The correction module is used to correct the GPS positioning data according to the driving trajectory after determining that the GPS positioning deviation occurs.

[0100] In some embodiments, the determination module 302 may further include the following units:

[0101] A determination unit, for determining that the vehicle deviates from the navigation planning route when the driving trajectory is consistent with the GPS positioning data and the driving trajectory is inconsistent with the navigation planning route;

[0102] The generation unit is used to regenerate the navigation planning route according to the driving trajectory and GPS positioning data.

[0103] In some embodiments, the acquisition module 301 may further include the following units:

[0104] An acquisition unit, used for acquiring road surface marking data and vehicle motion data;

[0105] The calculation unit is used to calculate the vehicle's driving trajectory based on the road marking data and the vehicle movement data.

[0106] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application, and are devices corresponding to the above-mentioned GPS offset determination method. All implementation methods in the above-mentioned method embodiment are applicable to the embodiments of the device. Its specific functions and technical effects can be found in the method embodiment part, which will not be repeated here.

[0107] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0108] Figure 4 is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Figure 4 As shown:

[0109] The device may include a processor 401 and a memory 402 storing programs or instructions.

[0110] When the processor 401 executes the program, the steps in any of the above method embodiments are implemented.

[0111] Exemplarily, the program may be divided into one or more modules / units, one or more modules / units are stored in the memory 402, and executed by the processor 401 to complete the present application. One or more modules / units may be a series of program instruction segments capable of completing a specific function, and the instruction segments are used to describe the execution process of the program in the device.

[0112] Specifically, the processor 401 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0113] Memory 402 may include a large capacity memory for data or instructions. By way of example and not limitation, memory 402 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, memory 402 may include a removable or non-removable (or fixed) medium. In appropriate cases, memory 402 may be inside or outside of an integrated gateway disaster recovery device. In a specific embodiment, memory 402 is a non-volatile solid-state memory.

[0114] The memory may include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical or other physical / tangible memory storage devices. Thus, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0115] The processor 401 implements any one of the methods in the above embodiments by reading and executing the program or instruction stored in the memory 402 .

[0116] In one example, the electronic device may further include a communication interface 403 and a bus 404. The processor 401, the memory 402, and the communication interface 403 are connected via the bus 404 and communicate with each other.

[0117] The communication interface 403 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0118] Bus 404 includes hardware, software or both, and the parts of online data flow billing equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 404 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the present application considers any suitable bus or interconnection.

[0119] In addition, in combination with the method in the above embodiment, the embodiment of the present application may provide a computer-readable storage medium for implementation. The computer-readable storage medium stores a program or instruction; when the program or instruction is executed by a processor, any one of the methods in the above embodiment is implemented. The computer-readable storage medium can be read by a machine such as a computer.

[0120] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0121] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0122] An embodiment of the present application provides a computer program product, which is stored in a computer-readable storage medium. The program product is executed by at least one processor to implement the various processes of the above-mentioned method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0123] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0124] The functional modules shown in the above block diagram can be implemented as hardware, software, firmware or their combination. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), suitable firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. Programs or code segments can be stored in machine-readable media, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable media" can include any medium that can store or transmit information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. Code segments can be downloaded via computer grids such as the Internet, intranets, etc.

[0125] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0126] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by a computer program or instruction. These programs or instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0127] The above are only specific implementation methods of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A method for determining a global positioning system (GPS) offset, characterized in that: The method comprises: Get the navigation planning route of the vehicle; When the vehicle is traveling according to the navigation planning route, obtaining the driving trajectory and GPS positioning data of the vehicle; A GPS offset result is determined according to the navigation planning route, the driving track and the GPS positioning data.

2. The method according to claim 1, characterized in that The determining of the GPS offset result according to the navigation planning route, the driving track and the GPS positioning data includes: When the driving trajectory is consistent with the navigation planning route, and the driving trajectory is inconsistent with the GPS positioning data, it is determined that the GPS positioning deviation occurs.

3. The method according to claim 2, characterized in that After determining that the GPS has a positioning offset, the method further includes: The GPS positioning data is corrected according to the driving trajectory.

4. The method according to claim 1, characterized in that The determining of the GPS offset result according to the navigation planning route, the driving track and the GPS positioning data includes: When the driving trajectory is consistent with the GPS positioning data, and the driving trajectory is inconsistent with the navigation planning route, determining that the vehicle deviates from the navigation planning route; Regenerate the navigation planning route according to the driving trajectory and the GPS positioning data.

5. The method according to claim 1, characterized in that The obtaining of the driving trajectory of the vehicle comprises: Acquire road marking data and vehicle movement data; The driving trajectory of the vehicle is calculated according to the road surface marking data and the vehicle motion data.

6. A GPS offset determination device, characterized in that: The device comprises: An acquisition module is used to obtain the navigation planning route of the vehicle; The acquisition module is further used to acquire the driving trajectory and GPS positioning data of the vehicle when the vehicle travels according to the navigation planning route; The determination module is used to determine the GPS offset result according to the navigation planning route, the driving trajectory and the GPS positioning data.

7. An electronic device, characterized in that: The device comprises: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, which, when executed by a processor, implement the method according to any one of claims 1 to 5.

9. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the method according to any one of claims 1 to 5.

10. A vehicle, characterized in that: The vehicle includes at least one of the following: The GPS deviation determination device as claimed in claim 6; The electronic device as claimed in claim 7; The computer readable storage medium of claim 8.

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