Vehicle route matching method and device, processor and vehicle

Abstract

The invention discloses a vehicle route matching method and device, a processor and a vehicle. The method can comprise the steps that the current initial position of the vehicle at the current moment is determined; acquiring current navigation information of a current target position corresponding to the current initial position; based on a current path in the current navigation information, at least one target road is determined, and the target road is used for representing a road on which the vehicle can travel; based on topological information of the target road, a target road network matched with the vehicle is constructed, and the topological information is used for representing preceding information and / or succeeding information of the target road; the target road network is matched with at least one track point of a current driving route of the vehicle, a matching result is obtained, a road under the current driving route is determined in the target road network, the current driving route comprises the current initial position, and the matching result is used for representing the matching degree between the track point and the target road network. According to the invention, the technical problem of low route matching precision is solved.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a vehicle route matching method, device, processor and vehicle. Background Art

[0002] In the actual driving process, the user's driving method may be different each time. For example, if in the scenario of getting on or off a bridge, the user walks on the upper bridge at one moment and walks off the bridge at another moment, it is easy to align the upper bridge walked at the previous moment with the lower bridge walked at the next moment, thus obtaining an erroneous map, which leads to the technical problem of low route matching accuracy.

[0003] Currently, no effective solution has been proposed to the above-mentioned technical problem of low accuracy in route matching. Summary of the invention

[0004] Embodiments of the present invention provide a vehicle route matching method, device, processor and vehicle to at least solve the technical problem of low accuracy of route matching.

[0005] According to one aspect of an embodiment of the present invention, a vehicle route matching method is provided, which may include: determining a current initial position of the vehicle at a current moment; obtaining current navigation information of a current target position corresponding to the current initial position, wherein the current target position is located in the driving direction of the vehicle, and a target distance is maintained between the current target position and the current initial position, and the current navigation information includes a current path passing through the current initial position and the current target position; determining at least one target road based on the current path in the current navigation information, wherein the target road is used to represent a road on which the vehicle can travel; constructing a target road network that matches the vehicle based on topological information of the target road, wherein the topological information is used to represent predecessor information and / or successor information of the target road; matching the target road network with at least one trajectory point of the current driving route of the vehicle to obtain a matching result, so as to determine a road under the current driving route in the target road network, wherein the current driving route includes the current initial position, and the matching result is used to represent the degree of matching between the trajectory point and the target road network.

[0006] Optionally, based on the topological information of the target road, a target road network matching the vehicle is constructed, including: determining the historical initial position of the vehicle at a historical moment; obtaining historical navigation information of a historical target position corresponding to the historical initial position, wherein the historical target position is located in the historical driving direction of the vehicle and a target distance is maintained between the historical target position and the historical initial position, and the historical navigation information includes a historical path passing through the historical initial position and the historical target position; and constructing the target road network based on the topological information, the current path and the historical path in the historical navigation information.

[0007] Optionally, based on the topological information, the current path and the historical path in the historical navigation information, a target road network is constructed, including: determining the current road traversed by the current path and the historical road traversed by the historical path; under the topological information, the current road and the historical road are spliced ​​to obtain the target road network.

[0008] Optionally, based on the current path in the current navigation information, at least one target road is determined, including: determining the historical initial position of the vehicle at a historical moment; obtaining historical navigation information of a historical target position corresponding to the historical initial position, wherein the historical target position is located in the historical driving direction of the vehicle and a target distance is maintained between the historical target position and the historical initial position, and the historical navigation information includes a historical path passing through the historical initial position and the historical target position; traversing the current path and the historical paths in the historical navigation information to obtain a traversal result, wherein the traversal result is used to indicate whether there is a path passing through the same area in the current path and the historical path; based on the traversal result, at least one target road is determined.

[0009] Optionally, the current path includes the current main path at the current initial position and the current sub-path connected to the current main path, and the historical path includes the historical main path at the historical initial position and the historical sub-path connected to the historical main path. The current path and the historical path are traversed to obtain the traversal results, including: traversing the current main path, the current sub-path, the historical main path and the historical sub-path to obtain the traversal results.

[0010] Optionally, based on the traversal results, at least one target road is determined, including: in response to the traversal results indicating that there are paths passing through the same area in the current path and the historical path, deleting the paths passing through the same area from the current path; and determining the historical roads traversed by the historical path and the current road traversed by the deleted current path as target roads.

[0011] Optionally, at least one trajectory point includes a current trajectory point and a previous trajectory point located before the current trajectory point, wherein the current trajectory point is the last trajectory point among the multiple trajectory points, and matching the target road network with at least one trajectory point of the current driving route of the vehicle to obtain a matching result includes: determining at least one first observation probability between the previous trajectory point and the at least one target road, and at least one second observation probability between the current trajectory point and the at least one target road, wherein the first observation probability is used to indicate the degree of possibility that the previous trajectory point is located on the target road, and the second observation probability is used to indicate the degree of possibility that the current trajectory point is located on the target road; determining at least one transition probability of converting the at least one first observation probability to the at least one second observation probability, wherein the transition probability is used to indicate the degree of possibility that the first observation probability is converted to the second observation probability; fusing the at least one first observation probability, the at least one second observation probability and the corresponding transition probability to obtain at least one fused probability of converting the previous trajectory point to the current trajectory point; in response to the current trajectory point being the last trajectory point, matching the target road network with the at least one trajectory point based on the at least one fused probability to obtain a matching result.

[0012] Optionally, in response to the current trajectory point being the last trajectory point, based on at least one fusion probability, the target road network is matched with the at least one trajectory point to obtain a matching result, including: in response to the current trajectory point being the last trajectory point, determining a target fusion probability from multiple fusion probabilities, wherein the target fusion probability is greater than the probability of the multiple fusion probabilities except the target fusion probability; using the first observation probability and the second observation probability corresponding to the target fusion probability to match the target road network with the at least one trajectory point to obtain a matching result.

[0013] According to another aspect of an embodiment of the present invention, a route matching device for a vehicle is also provided, and the device may include: a first determination unit, used to determine the current initial position of the vehicle at the current moment; an acquisition unit, used to acquire current navigation information of a current target position corresponding to the current initial position, wherein the current target position is located in the driving direction of the vehicle, and the current target position maintains a target distance with the current initial position, and the current navigation information includes a current path passing through the current initial position and the current target position; a second determination unit, used to determine at least one target road based on the current path in the current navigation information, wherein the target road is used to indicate a road on which the vehicle can travel; a construction unit, used to construct a target road network that matches the vehicle based on topological information of the target road, wherein the topological information is used to indicate predecessor information and / or successor information of the target road; a matching unit, used to match the target road network with at least one trajectory point of the current driving route of the vehicle to obtain a matching result, so as to determine the road under the current driving route in the target road network, wherein the current driving route includes the current initial position, and the matching result is used to indicate the degree of matching between the trajectory point and the target road network.

[0014] Optionally, the construction unit may include: a first determination module, used to determine the historical initial position of the vehicle at a historical moment; a first acquisition module, used to acquire historical navigation information of a historical target position corresponding to the historical initial position, wherein the historical target position is located in the historical driving direction of the vehicle and a target distance is maintained between the historical target position and the historical initial position, and the historical navigation information includes a historical path passing through the historical initial position and the historical target position; and a construction module, used to construct a target road network based on topology information, a current path and the historical path in the historical navigation information.

[0015] Optionally, the construction module may include: a first determination submodule, used to determine the current road traversed by the current path and the historical roads traversed by the historical path; a splicing submodule, used to splice the current road and the historical road under the topological information to obtain the target road network.

[0016] Optionally, the second determination unit may include: a second determination module, used to determine the historical initial position of the vehicle at a historical moment; a second acquisition module, used to acquire historical navigation information of a historical target position corresponding to the historical initial position, wherein the historical target position is located in the historical driving direction of the vehicle, and a target distance is maintained between the historical target position and the historical initial position, and the historical navigation information includes a historical path passing through the historical initial position and the historical target position; a traversal module, used to traverse the current path and the historical path in the historical navigation information to obtain a traversal result, wherein the traversal result is used to indicate whether there is a path passing through the same area in the current path and the historical path; a third determination module, used to determine at least one target road based on the traversal result.

[0017] Optionally, the current path includes the current main path where the current initial position is located, and the current sub-path connected to the current main path, the historical path includes the historical main path where the historical initial position is located, and the historical sub-path connected to the historical main path, and the traversal module may include: a traversal sub-module, which is used to traverse the current main path, the current sub-path, the historical main path and the historical sub-path to obtain a traversal result.

[0018] Optionally, the third determination module may include: a deletion submodule, used to delete the paths passing through the same area from the current path in response to the traversal results indicating that there are paths passing through the same area in the current path and the historical path; and a second determination submodule, used to determine the historical roads traversed by the historical path and the current roads traversed by the current path after deletion as target roads.

[0019] Optionally, at least one trajectory point includes a current trajectory point and a previous trajectory point located before the current trajectory point, wherein the current trajectory point is the last trajectory point among the multiple trajectory points, and the matching unit may include: a fourth determination module, used to determine at least one first observation probability between the previous trajectory point and at least one target road, and at least one second observation probability between the current trajectory point and at least one target road, wherein the first observation probability is used to indicate the degree of possibility that the previous trajectory point is located on the target road, and the second observation probability is used to indicate the degree of possibility that the current trajectory point is located on the target road; a fifth determination module, used to determine at least one transition probability of the at least one first observation probability being converted to at least one second observation probability, wherein the transition probability is used to indicate the degree of possibility that the first observation probability is converted to the second observation probability; a fusion module, used to fuse the at least one first observation probability, the at least one second observation probability and the corresponding transition probability to obtain at least one fused probability of the previous trajectory point being converted to the current trajectory point; and a matching module, used to match the at least one trajectory point with the target road network based on the at least one fused probability in response to the current trajectory point being the last trajectory point, to obtain a matching result.

[0020] Optionally, the matching module may include: a third determination submodule, for determining a target fusion probability from multiple fusion probabilities in response to the current trajectory point being the last trajectory point, wherein the target fusion probability is greater than the probability other than the target fusion probability in the multiple fusion probabilities; a matching submodule, for matching the target road network with at least one trajectory point using the first observation probability and the second observation probability corresponding to the target fusion probability to obtain a matching result.

[0021] According to another aspect of an embodiment of the present invention, a vehicle is provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes any one of the above methods when running.

[0022] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a stored executable program, wherein when the executable program runs, the device where the storage medium is located is controlled to execute any one of the above methods.

[0023] According to yet another aspect of an embodiment of the present invention, a computer program product is provided. The computer program product includes a computer program. When the computer program is executed by a processor, any one of the above methods is implemented.

[0024] In an embodiment of the present invention, when matching the route of a vehicle, the current initial position of the vehicle at the current moment can be determined, and the current navigation information of the current target position corresponding to the current initial position can be obtained. According to the current path in the obtained current navigation information, at least one target road can be determined, and according to the topological information of the determined target road, a target road network matching the vehicle can be constructed, and the constructed target road network can be matched with at least one track point of the current driving route of the vehicle to obtain a matching result. In an embodiment of the present application, on the basis of determining the target road, according to the topological information of the target road, a target road network matching the vehicle can be constructed, and in the constructed target road network, at least one track point of the current driving route of the vehicle can be matched, and the matching degree between the track point and the target road network can be obtained, thereby achieving the purpose of ensuring the accuracy of the target road network, thereby solving the technical problem of low accuracy of route matching, and further achieving the technical effect of improving the accuracy of route matching. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0026] FIG1( a ) is a schematic diagram of an application scenario of a vehicle route matching method according to an embodiment of the present invention;

[0027] FIG1( b ) is a flow chart of a vehicle route matching method according to an embodiment of the present invention;

[0028] FIG. 2( a ) is a flow chart of a method for memorizing multiple driving routes and distinguishing different roads according to an embodiment of the present invention;

[0029] FIG2( b ) is a schematic diagram of a trajectory observation effect of a vehicle according to an embodiment of the present invention;

[0030] FIG2( c ) is a schematic diagram of a matching effect between a trajectory point of a vehicle and a road network according to an embodiment of the present invention;

[0031] FIG2( d ) is a schematic diagram of data interaction between a vehicle and a server according to an embodiment of the present invention;

[0032] Figure 3 is a structural block diagram of a route matching device for a vehicle according to an embodiment of the present invention;

[0033] Figure 4 is a structural block diagram of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0035] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0036] According to an embodiment of the present invention, a vehicle route matching method is provided.

[0037] As an optional implementation, the above-mentioned vehicle route matching method can be applied to, but not limited to, the application scenario shown in FIG. 1(a). FIG. 1(a) is a schematic diagram of an application scenario of a vehicle route matching method according to an embodiment of the present invention. As shown in FIG. 1(a), in the application scenario, the mobile terminal 10 can be, but not limited to, communicating with the server 13 through the network 11, and the server 13 can be, but not limited to, performing operations on the database, such as writing data operations or reading data operations. The above-mentioned mobile terminal 10 can be a terminal device, and the terminal device can include, but not limited to, a human-computer interaction screen, a processor, and a memory. The above-mentioned human-computer interaction screen can be, but not limited to, used to display a virtual machine on the mobile terminal 10. The vehicle 12 can be, but not limited to, used to respond to the above-mentioned human-computer interaction operation, perform corresponding operations, or generate corresponding instructions, and send the generated instructions to the server 13. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0038] For example, the route matching method of the vehicle in the present application can be used to provide a route differentiation function for a preset application scenario. The above-mentioned preset application scenarios may include the following scenarios in the vehicle field: commuting automatic driving scenarios, artificial intelligence (AI) driving scenarios for family cars, automatic parking assistance (APA) scenarios (such as memory parking for owned parking spaces in garages, smart parking for designated parking spaces in parking lots, etc.) and smart navigation assistance (Navigation Guided Pilot, NGP for short) scenarios in urban areas or high-speed areas, etc. In addition, the above-mentioned preset application scenarios may also include, but are not limited to: intelligent transportation scenarios of smart driving trucks or unmanned trucks in the field of logistics and transportation, and intelligent farming scenarios of self-driving agricultural vehicles in the field of agricultural machinery, etc.

[0039] When the above-mentioned preset application scenarios are scenarios in fields other than the vehicle field, those skilled in the art should be able to understand that the vehicle in the above-mentioned vehicle route matching method can be replaced with other objects (for example, agricultural machinery, drones, and robots, etc.), and correspondingly, the various devices and systems included in the vehicle can be replaced with devices and systems related to other objects. On this basis, in the embodiments of the present application, the specific implementation method of the above-mentioned vehicle numbering method is exemplified by taking the vehicle field as an example.

[0040] FIG1( b ) is a flow chart of a vehicle route matching method according to an embodiment of the present invention. As shown in FIG1( b ), the method may include the following steps:

[0041] Step S112, determining the current initial position of the vehicle at the current moment.

[0042] In the technical solution provided in the above step S112 of the present invention, the above current initial position can be expressed in coordinate form, and the coordinate form can be any one of the following forms or a combination thereof: a two-dimensional coordinate form and a three-dimensional coordinate form, etc.

[0043] In this embodiment, the current initial position of the vehicle at the current moment is determined. Optionally, in this embodiment, when the vehicle is detected to be in a driving state, the location reached by the vehicle at the current moment is located, and the current initial position of the vehicle at the current moment can be obtained.

[0044] Optionally, the location that the vehicle has arrived at the current moment is positioned to obtain the current initial location of the vehicle at the current moment. For example, the location that the vehicle has arrived at the current moment is positioned using the Global Positioning System (GPS) to obtain the current initial location of the vehicle at the current moment; or the location that the vehicle has arrived at the current moment is positioned using Bluetooth positioning to obtain the current initial location of the vehicle at the current moment.

[0045] Step S114, obtaining current navigation information of the current target position corresponding to the current initial position.

[0046] In the technical solution provided in step S114 of the present invention, the current target position may be located in the driving direction of the vehicle, and the current target position may maintain a target distance from the current initial position. The target distance may be a pre-set initialization distance, or an adjusted distance obtained by adjusting the initialization distance with reference to the historical driving record of the vehicle, which is only used as an example and is not specifically limited.

[0047] In this embodiment, the current navigation information may include a current path passing through the current initial position and the current target position. The current navigation information may be navigation information of the current target position obtained from a navigation application (Application, referred to as App), and the current navigation information may be but is not limited to v2 navigation information, which is only used as an example and is not specifically limited.

[0048] In this embodiment, after determining the current initial position of the vehicle at the current moment, the current navigation information of the current target position corresponding to the current initial position is obtained. Optionally, this embodiment can determine the current target position corresponding to the above-mentioned current initial position at a target distance from the above-mentioned current initial position along the driving direction of the vehicle based on the current initial position of the vehicle at the current moment. From the navigation App, the current navigation information of the above-mentioned current target position can be obtained. For example, the current path passing through the above-mentioned current initial position and the above-mentioned current target position can be obtained. This is only an example for illustration and is not specifically limited.

[0049] Step S116, determining at least one target road based on the current path in the current navigation information.

[0050] In the technical solution provided in the above step S116 of the present invention, the above target road can be used to represent a road on which the vehicle can travel. For example, the above target road can be represented by road, which is only used as an example and is not specifically limited.

[0051] In this embodiment, after obtaining the current navigation information of the current target position corresponding to the current initial position, at least one target road is determined based on the current path in the current navigation information. Optionally, based on obtaining the current navigation information, this embodiment can extract the current path passing through the current initial position and the current target position from the obtained current navigation information. Based on the extracted current path, at least one target road can be determined.

[0052] Optionally, at least one target road can be determined based on the extracted current path. That is to say, the historical initial position of the vehicle at the historical moment can be determined. On the basis of determining the historical initial position of the vehicle at the historical moment, the historical target position corresponding to the historical initial position can be determined along the historical driving direction of the vehicle at a target distance from the determined historical initial position. From the navigation App, the historical navigation information of the determined historical target position can be obtained, for example, the historical path passing through the historical initial position and the historical target position can be obtained. At least one target road can be determined based on the current path and the historical path.

[0053] It should be noted that the above method of determining at least one target road based on the current path in the current navigation information is only an example and is not specifically limited here. As long as the process and method of determining at least one target road can be determined based on the current path in the current navigation information obtained, it is within the protection scope of the embodiments of the present application and will not be described one by one here.

[0054] Step S118, constructing a target road network matching the vehicle based on the topological information of the target road.

[0055] In the technical solution provided in the above step S118 of the present invention, the above topological information can be used to represent the predecessor information and / or successor information of the target road. For example, if the target road is a dead-end road, the topological information can be used to represent the predecessor information or successor information of the target road; if the target road is a connected road, the topological information can be used to represent the predecessor information and successor information of the target road, which is only used as an example and is not specifically limited.

[0056] In this embodiment, after determining at least one target road based on the current path in the current navigation information, a target road network matching the vehicle is constructed based on the topological information of the target road. Optionally, this embodiment can determine the topological information of the target road based on determining at least one target road. Based on the determined topological information and the current path passing through the current initial position and the current target position, a target road network matching the vehicle can be constructed.

[0057] Optionally, if the target road is a dead-end road, the predecessor information or successor information of the target road can be determined, and a target road network matching the vehicle can be constructed based on the determined predecessor information or successor information and the current path passing through the current initial position and the current target position.

[0058] Optionally, if the target road is a connected road, the predecessor information and successor information of the target road can be determined, and a target road network matching the vehicle can be constructed based on the determined predecessor information and successor information, as well as the current path passing through the current initial position and the current target position.

[0059] Step S120, matching the target road network with at least one trajectory point of the current driving route of the vehicle to obtain a matching result, so as to determine the road under the current driving route in the target road network.

[0060] In the technical solution provided in the above step S120 of the present invention, the above current driving route may include the current initial position. The above matching result may be used to indicate the matching degree between the track point and the target road network.

[0061] In this embodiment, after constructing a target road network that matches the vehicle based on the topological information of the target road, the target road network is matched with at least one trajectory point of the current driving route of the vehicle to obtain a matching result, so as to determine the road under the current driving route in the target road network. Optionally, this embodiment can determine the current trajectory point and the previous trajectory point located before the current trajectory point from at least one trajectory point of the current driving route of the vehicle on the basis of constructing the target road network that matches the vehicle. The first matching result and the second matching result can be obtained by matching the current trajectory point and the previous trajectory point of the constructed target road network with the current driving route of the vehicle. The above matching results include the first matching result and the second matching result, the first matching result can be used to indicate the matching degree between the current trajectory point and the target road network, and the second matching result can be used to indicate the matching degree between the previous trajectory point and the target road network.

[0062] Optionally, if the matching degree indicated by the matching result is higher than the matching threshold, the road under the current driving route can be determined in the constructed target road network. For example, if the matching degree indicated by the first matching result is higher than the matching threshold, and the matching degree indicated by the second matching result is higher than the matching threshold, the road under the current driving route can be determined in the constructed target road network.

[0063] It should be noted that the vehicle temperature control method in the present application can also be applied to at least the following scenarios: autonomous driving scenario, assisted driving scenario and passive driving scenario (which can be referred to as human driving scenario). Among them, the autonomous driving scenario can be used to indicate that the vehicle control system controls the vehicle driving during the driving process, and the driving object does not need to maintain control and supervision of the driving. The assisted driving scenario can be used to indicate that the vehicle control system provides auxiliary functions during the driving process, but the driving object still needs to maintain control and supervision of the driving. The passive driving scenario can be used to indicate the scenario where the driving object controls the vehicle to complete the driving operation.

[0064] In the artificial intelligence AI driving of autonomous vehicles, commuting mode usually refers to a driving mode designed for commuting or daily commuting. Among them, the AI ​​driving can collect data by learning the user's driving route and driving behavior. When all the learning is completed, the collected data is screened and checked, and then the full segment of data after screening and checking is automatically transmitted back to the cloud server to execute the construction of the cloud map. The next time you drive and choose the same route, the AI ​​driving will be activated, and the vehicle will be driven to the destination of the route according to the constructed cloud map. Among them, matching and complementing the offline map with the constructed cloud map can improve the accuracy of the cloud map.

[0065] In the above steps S112 to S120 of the present application, when matching the route of the vehicle, the current initial position of the vehicle at the current moment can be determined, and the current navigation information of the current target position corresponding to the current initial position can be obtained. According to the current path in the obtained current navigation information, at least one target road can be determined, and according to the topological information of the determined target road, a target road network matching the vehicle can be constructed, and the constructed target road network can be matched with at least one track point of the current driving route of the vehicle to obtain a matching result. In the embodiment of the present application, on the basis of determining the target road, according to the topological information of the target road, a target road network matching the vehicle can be constructed, and in the constructed target road network, at least one track point of the current driving route of the vehicle can be matched, and the matching degree between the track point and the target road network can be obtained, thereby achieving the purpose of ensuring the accuracy of the target road network, thereby solving the technical problem of low accuracy of route matching, and further achieving the technical effect of improving the accuracy of route matching.

[0066] The above method of this embodiment is further introduced below.

[0067] As an optional implementation method, step S118, based on the topological information of the target road, constructs a target road network matching the vehicle, including: determining the historical initial position of the vehicle at a historical moment; obtaining historical navigation information of the historical target position corresponding to the historical initial position; and constructing the target road network based on the topological information, the current path and the historical path in the historical navigation information.

[0068] In this embodiment, the above historical initial position can be expressed in a coordinate form, and the coordinate form can be any one of the following forms or a combination thereof: a two-dimensional coordinate form and a three-dimensional coordinate form, etc.

[0069] In this embodiment, after constructing a target road network matching the vehicle based on the topological information of the target road, the historical initial position of the vehicle at the historical moment is determined. Optionally, in the case where the vehicle is detected to be in a driving state, the embodiment locates the location reached by the vehicle at the historical moment, and the historical initial position of the vehicle at the historical moment can be obtained, thereby achieving the purpose of determining the historical position of the vehicle and realizing the technical effect of improving the accuracy of data positioning.

[0070] In this embodiment, the historical target position may be located in the historical driving direction of the vehicle, and the historical target position may maintain a target distance from the historical initial position.

[0071] In this embodiment, the historical navigation information includes a historical path passing through a historical initial position and a historical target position. The historical navigation information may be navigation information of a historical target position obtained from a navigation App.

[0072] In this embodiment, after determining the historical initial position of the vehicle at a historical moment, the historical navigation information of the historical target position corresponding to the historical initial position is obtained. Optionally, based on the determination of the historical initial position, this embodiment can determine the historical target position corresponding to the above historical initial position along the historical driving direction of the vehicle at a target distance from the above determined historical initial position. From the navigation App, the historical navigation information of the above determined historical target position can be obtained. For example, the historical path passing through the above historical initial position and the above historical target position can be obtained, thereby achieving the purpose of determining the historical navigation information of the vehicle and realizing the technical effect of improving the accuracy of data positioning.

[0073] In this embodiment, after obtaining the historical navigation information of the historical target position corresponding to the historical initial position, the target road network is constructed based on the topological information, the current path and the historical path in the historical navigation information. Optionally, based on the historical navigation information obtained, this embodiment can determine the current road traversed by the current path, and can determine the historical roads traversed by the historical path. According to the topological information, the current road traversed by the current path and the historical roads traversed by the historical path, the target road network can be constructed, thereby achieving the purpose of constructing a road network suitable for the vehicle and realizing the technical effect of improving the accuracy of constructing the road network.

[0074] The method for constructing a target road network based on topology information, a current path and historical paths in historical navigation information in this embodiment is further described below.

[0075] As an optional implementation method, a target road network is constructed based on topological information, a current path, and historical paths in historical navigation information, including: determining the current road traversed by the current path, and the historical roads traversed by the historical path; under the topological information, the current road and the historical road are spliced ​​to obtain the target road network.

[0076] In this embodiment, after obtaining the historical navigation information of the historical target position corresponding to the historical initial position, the current road traversed by the current path and the historical road traversed by the historical path are determined. Optionally, based on the historical navigation information obtained, this embodiment traverses the current path to obtain the current road traversed by the current path, and traverses the historical path to obtain the historical road traversed by the historical path, thereby achieving the purpose of determining the road to be spliced ​​and realizing the technical effect of improving the accuracy of obtaining the road.

[0077] In this embodiment, the above-mentioned splicing can be used to represent deduplication splicing.

[0078] In this embodiment, after determining the current road traversed by the current path and the historical road traversed by the historical path, the current road and the historical road are spliced ​​under the topological information to obtain the target road network. Optionally, based on the determination of the current road and the historical road, the embodiment performs road deduplication on the current road and the historical road under the topological information of the target road, and splices the deduplicated current road and the deduplicated historical road to obtain the target road network, thereby achieving the purpose of constructing a road network suitable for the vehicle and realizing the technical effect of improving the accuracy of constructing the road network.

[0079] The method for determining at least one target road based on the current path in the current navigation information of this embodiment is further described below.

[0080] As an optional implementation method, step S116, based on the current path in the current navigation information, determines at least one target road, including: determining the historical initial position of the vehicle at a historical moment; obtaining historical navigation information of the historical target position corresponding to the historical initial position; traversing the current path and the historical paths in the historical navigation information to obtain traversal results; and determining at least one target road based on the traversal results.

[0081] In this embodiment, the above historical initial position can be expressed in a coordinate form, and the coordinate form can be any one of the following forms or a combination thereof: a two-dimensional coordinate form and a three-dimensional coordinate form, etc.

[0082] In this embodiment, after obtaining the current navigation information of the current target position corresponding to the current initial position, the historical initial position of the vehicle at the historical moment is determined. Optionally, in the case where the vehicle is detected to be in a driving state, the embodiment locates the location reached by the vehicle at the historical moment, and the historical initial position of the vehicle at the historical moment can be obtained, thereby achieving the purpose of determining the historical position of the vehicle and realizing the technical effect of improving the accuracy of data positioning.

[0083] In this embodiment, the historical target position may be located in the historical driving direction of the vehicle, and the historical target position may maintain a target distance from the historical initial position.

[0084] In this embodiment, the historical navigation information may include a historical path passing through a historical initial position and a historical target position.

[0085] In this embodiment, after determining the historical initial position of the vehicle at a historical moment, the historical navigation information of the historical target position corresponding to the historical initial position is obtained. Optionally, based on the determination of the historical initial position, this embodiment can determine the historical target position corresponding to the above historical initial position along the historical driving direction of the vehicle at a target distance from the above determined historical initial position. From the navigation App, the historical navigation information of the above determined historical target position can be obtained. For example, the historical path passing through the above historical initial position and the above historical target position can be obtained, thereby achieving the purpose of determining the historical navigation information of the vehicle and realizing the technical effect of improving the accuracy of data positioning.

[0086] In this embodiment, the above traversal result can be used to indicate whether there is a path passing through the same area in the current path and the historical path.

[0087] In this embodiment, after obtaining the historical navigation information of the historical target position corresponding to the historical initial position, the current path and the historical path in the historical navigation information are traversed to obtain the traversal result. Optionally, this embodiment can extract the historical path from the historical navigation information based on the historical navigation information obtained. The traversal result can be obtained by traversing the extracted current path and the historical path, thereby achieving the purpose of determining whether there is a path passing through the same area in the current path and the historical path, and realizing the technical effect of improving the efficiency of road determination.

[0088] In this embodiment, after traversing the current path and the historical paths in the historical navigation information to obtain the traversal results, at least one target road is determined based on the traversal results. Optionally, this embodiment determines the content of the obtained traversal results based on the obtained traversal results to determine whether to delete the path passing through the same area from the current path. The historical roads traversed by the historical path and the current road traversed by the deleted current path can be determined as the target road; or the historical roads traversed by the historical path and the current road traversed by the undeleted current path can be determined as the target road, thereby achieving the purpose of determining the target road and realizing the technical effect of improving the accuracy of the determined road data.

[0089] The method of traversing the current path and the historical path to obtain the traversal result of this embodiment is further described below.

[0090] As an optional implementation method, the current path and the historical path are traversed to obtain the traversal result, including: the current main path, the current sub-path, the historical main path and the historical sub-path are traversed to obtain the traversal result.

[0091] In this embodiment, the current path may include the current main path where the current initial position is located, and the current sub-path connected to the current main path. For example, the current main path may be represented by main path, and the current sub-path may be represented by sub path, which is only used as an example and is not specifically limited.

[0092] In this embodiment, the above historical path may include a historical main path where the historical initial position is located, and a historical sub-path connected to the historical main path.

[0093] In this embodiment, after obtaining the historical navigation information of the historical target position corresponding to the historical initial position, the current main path, the current sub-path, the historical main path and the historical sub-path are traversed to obtain the traversal result. Optionally, this embodiment can extract the historical path from the historical navigation information based on the historical navigation information obtained. The traversal result can be obtained by traversing the current main path and the current sub-path extracted from the above-mentioned current path, as well as the historical main path and the historical sub-path extracted from the above-mentioned historical path, thereby achieving the purpose of determining whether there is a path passing through the same area in the current path and the historical path, and realizing the technical effect of improving the efficiency of road determination.

[0094] The method for determining at least one target road based on the traversal result of this embodiment is further described below.

[0095] As an optional implementation method, at least one target road is determined based on the traversal results, including: in response to the traversal results indicating that there are paths passing through the same area in the current path and the historical path, the paths passing through the same area are deleted from the current path; and the historical roads traversed by the historical path and the current road traversed by the deleted current path are determined as target roads.

[0096] In this embodiment, after traversing the current path and the historical paths in the historical navigation information to obtain the traversal results, in response to the traversal results indicating that there are paths passing through the same area in the current path and the historical paths, the paths passing through the same area are deleted from the current path. Optionally, this embodiment performs content judgment on the obtained traversal results on the basis of the obtained traversal results. If it is judged that the traversal results indicate that there are paths passing through the same area in the current path and the historical paths, it can be determined to delete the paths passing through the same area from the current path, thereby achieving the purpose of deduplication of duplicate roads and realizing the technical effect of improving the accuracy of the determined road data.

[0097] In this embodiment, in response to the traversal result indicating that there are paths passing through the same area in the current path and the historical path, after deleting the paths passing through the same area from the current path, the historical roads traversed by the historical path and the current roads traversed by the deleted current path are determined as target roads. Optionally, this embodiment performs a road traversal on the deleted current path based on deleting the paths passing through the same area from the current path, and can obtain the current roads traversed by the deleted current path, and can also perform a road traversal on the historical path to obtain the historical roads traversed by the historical path. The historical roads traversed by the above-mentioned historical path and the current roads traversed by the above-mentioned current path after deletion can be determined as target roads, thereby achieving the purpose of determining the target road and realizing the technical effect of improving the efficiency of road determination.

[0098] The method of matching the target road network with at least one trajectory point of the current driving route of the vehicle to obtain a matching result in this embodiment is further described below.

[0099] As an optional implementation method, at least one trajectory point includes a current trajectory point and a previous trajectory point located before the current trajectory point, wherein the current trajectory point is the last trajectory point among the multiple trajectory points. Step S120 matches the target road network with at least one trajectory point of the current driving route of the vehicle to obtain a matching result, including: determining at least one first observation probability between the previous trajectory point and the at least one target road, and at least one second observation probability between the current trajectory point and the at least one target road; determining at least one transition probability of converting the at least one first observation probability to the at least one second observation probability; fusing the at least one first observation probability, the at least one second observation probability and the corresponding transition probability to obtain at least one fused probability of converting the previous trajectory point to the current trajectory point; in response to the current trajectory point being the last trajectory point, matching the target road network with the at least one trajectory point based on the at least one fused probability to obtain a matching result.

[0100] In this embodiment, the at least one track point may include a current track point and a previous track point located before the current track point. The current track point may be the last track point among multiple track points, and the last track point may also be referred to as the last track point, which is only used as an example and is not specifically limited.

[0101] In this embodiment, the first observation probability may be used to indicate the possibility that the previous trajectory point is located on the target road, and the second observation probability may be used to indicate the possibility that the current trajectory point is located on the target road.

[0102] In this embodiment, after constructing a target road network matching the vehicle based on the topological information of the target road, at least one first observation probability between the previous trajectory point and at least one target road, and at least one second observation probability between the current trajectory point and at least one target road are determined. Optionally, this embodiment can determine the current trajectory point and the previous trajectory point located before the current trajectory point from at least one trajectory point of the current driving route of the vehicle on the basis of constructing the target road network matching the vehicle. On the basis of determining the current trajectory point and the previous trajectory point, at least one first observation probability between the previous trajectory point and at least one target road, and at least one second observation probability between the current trajectory point and at least one target road can be determined, that is, the degree of possibility that the previous trajectory point is located at at least one target road, and the degree of possibility that the current trajectory point is located at at least one target road can be determined, thereby achieving the purpose of determining the observation probability of the trajectory point and the road, and realizing the technical effect of improving the reliability of trajectory point matching.

[0103] In this embodiment, the above transition probability can be used to indicate the possibility of the first observation probability being converted to the second observation probability.

[0104] In this embodiment, after determining at least one first observation probability between the previous trajectory point and at least one target road, and at least one second observation probability between the current trajectory point and at least one target road, at least one transition probability of converting the at least one first observation probability to the at least one second observation probability is determined. Optionally, this embodiment calculates the degree of possibility of converting the at least one first observation probability to the at least one second observation probability on the basis of determining at least one first observation probability and at least one second observation probability, and can obtain at least one transition probability, thereby achieving the purpose of determining the transition probability of two observations and realizing the technical effect of improving the reliability of trajectory point matching.

[0105] In this embodiment, after determining at least one transition probability of at least one first observation probability being converted to at least one second observation probability, the at least one first observation probability, the at least one second observation probability and the corresponding transition probability are fused to obtain at least one fused probability of the previous trajectory point being converted to the current trajectory point. Optionally, on the basis of determining at least one transition probability, this embodiment fuses the determined at least one first observation probability, the determined at least one second observation probability and the corresponding transition probability to obtain at least one fused probability of the previous trajectory point being converted to the current trajectory point, thereby achieving the purpose of being able to perform fusion calculations on the transition probabilities and realizing the technical effect of being able to improve the reliability of trajectory point matching.

[0106] In this embodiment, after fusing at least one first observation probability, at least one second observation probability and the corresponding transition probability to obtain at least one fusion probability of the previous trajectory point being converted to the current trajectory point, in response to the current trajectory point being the last trajectory point, the target road network is matched with at least one trajectory point based on at least one fusion probability to obtain a matching result. Optionally, this embodiment determines whether the current trajectory point is the last trajectory point on the basis of obtaining at least one fusion probability of the previous trajectory point being converted to the current trajectory point, and a judgment result can be obtained, wherein the judgment result can be used to represent the relationship between the current trajectory point and the last trajectory point. If the obtained judgment result indicates that the current trajectory point is the last trajectory point, then according to the obtained at least one fusion probability, the constructed target road network is matched with at least one trajectory point to obtain a matching result, thereby achieving the purpose of ensuring the accuracy of the target road network and realizing the technical effect of improving the accuracy of route matching.

[0107] The method of the embodiment for obtaining a matching result by matching at least one trajectory point with a target road network based on at least one fusion probability in response to the current trajectory point being the last trajectory point is further described below.

[0108] As an optional implementation method, in response to the current trajectory point being the last trajectory point, based on at least one fusion probability, the target road network is matched with at least one trajectory point to obtain a matching result, including: in response to the current trajectory point being the last trajectory point, determining the target fusion probability from multiple fusion probabilities; using the first observation probability and the second observation probability corresponding to the target fusion probability to match the target road network with at least one trajectory point to obtain a matching result.

[0109] In this embodiment, the target fusion probability may be greater than the probability other than the target fusion probability among the multiple fusion probabilities. For example, the target fusion probability may also be referred to as the maximum fusion probability.

[0110] In this embodiment, after fusing at least one first observation probability, at least one second observation probability and the corresponding transition probability to obtain at least one fusion probability of the previous trajectory point being converted to the current trajectory point, in response to the current trajectory point being the last trajectory point, a target fusion probability is determined from multiple fusion probabilities. Optionally, this embodiment determines whether the current trajectory point is the last trajectory point on the basis of obtaining at least one fusion probability of the previous trajectory point being converted to the current trajectory point, and a judgment result can be obtained. If the judgment result obtained indicates that the current trajectory point is the last trajectory point, the obtained multiple fusion probabilities are sorted, and the target fusion probability can be determined from the sorted multiple fusion probabilities, thereby achieving the purpose of determining the maximum fusion probability and realizing the technical effect of improving the accuracy of route matching.

[0111] In this embodiment, in response to the current trajectory point being the last trajectory point, after determining the target fusion probability from multiple fusion probabilities, the target road network is matched with at least one trajectory point using the first observation probability and the second observation probability corresponding to the target fusion probability to obtain a matching result. Optionally, this embodiment can determine the first observation probability and the second observation probability corresponding to the above target fusion probability on the basis of determining the target fusion probability from multiple fusion probabilities. The target road network is matched with at least one trajectory point using the determined first observation probability and the second observation probability to obtain a matching result, thereby achieving the purpose of determining the degree of matching between the trajectory point and the target road network, and further achieving the technical effect of improving the accuracy of route matching.

[0112] In an embodiment of the present invention, when matching the route of a vehicle, the current initial position of the vehicle at the current moment can be determined, and the current navigation information of the current target position corresponding to the current initial position can be obtained. According to the current path in the obtained current navigation information, at least one target road can be determined, and according to the topological information of the determined target road, a target road network matching the vehicle can be constructed, and the constructed target road network can be matched with at least one track point of the current driving route of the vehicle to obtain a matching result. In an embodiment of the present application, on the basis of determining the target road, according to the topological information of the target road, a target road network matching the vehicle can be constructed, and in the constructed target road network, at least one track point of the current driving route of the vehicle can be matched, and the matching degree between the track point and the target road network can be obtained, thereby achieving the purpose of ensuring the accuracy of the target road network, thereby solving the technical problem of low accuracy of route matching, and further achieving the technical effect of improving the accuracy of route matching.

[0113] The technical solution of the embodiment of the present invention is illustrated below in conjunction with preferred implementation modes.

[0114] In the actual driving process, the user's driving method may be different each time. For example, if in the scenario of getting on or off a bridge, the user walks on the upper bridge at one moment and walks off the bridge at another moment, it is easy to align the upper bridge walked at the previous moment with the lower bridge walked at the next moment, thus obtaining an erroneous map, which leads to the technical problem of low route matching accuracy.

[0115] However, an embodiment of the present invention proposes a vehicle route matching method, which determines at least one target road of the vehicle based on the current path in the current navigation information obtained, constructs a target road network according to the topological information of the target road, and matches each trajectory point of the vehicle with the constructed target road network to obtain a matching result, thereby achieving the purpose of ensuring the accuracy of the target road network, thereby solving the technical problem of low accuracy of route matching, and further achieving the technical effect of improving the accuracy of route matching.

[0116] In this embodiment, by executing the method of memorizing multiple driving routes to distinguish different roads, each trajectory point of the vehicle can be matched with the constructed target road network. For example, FIG2(a) is a flow chart of a method of memorizing multiple driving routes to distinguish different roads according to an embodiment of the present invention. As shown in FIG2(a), the method may include the following steps:

[0117] Step S201, extracting the current road and historical roads from the v2 navigation information.

[0118] In the technical solution provided in step S201 of the present invention, the v2 navigation information may include a main path and a sub path, wherein the main path may be used to indicate the path where the vehicle is located, and the sub path may be used to provide information on other paths connected to the main path.

[0119] In this embodiment, the v2 navigation information may be a v2 path, which may be used to provide road structure and topology data near the vehicle track. All v2 paths are traversed, and a path may have multiple points. Two adjacent points in the path construct a road, and the direction of the road may be from the front point to the back point.

[0120] After the current road and the historical roads are extracted from the v2 navigation information, the process proceeds to step S202 to deduplicate the current road and the historical roads to obtain a road network.

[0121] In the technical solution provided in the above step S202 of the present invention, if the same road exists in the current road and the historical road that passes through the same area, then under the topological information of the target road, the current road and the historical road are deduplicated, the deduplicated current road and the deduplicated historical road are spliced, and the topological relationship is completed, so as to obtain a local road network covering the entire trajectory.

[0122] In this embodiment, a topological relationship can be constructed for all roads. A road separated from the original path can be constructed into a predecessor-successor relationship based on the point sequence. For roads in different routes, the predecessor-successor relationship with other roads can be determined through spatial position and direction.

[0123] After deduplication of the current road and the historical roads, the process proceeds to step S203 to calculate the observation probability between the trajectory point and the target road, and weight it using the v2 main path.

[0124] In the technical solution provided in step S203 of the present invention, the observation probability of each trajectory point and the surrounding roads can be calculated by using the hidden Markov model. Combined with the historical predecessor path and the historical successor path corresponding to the surrounding roads, and the calculated observation probability of each trajectory point and the surrounding roads, it can be determined which road the trajectory point belongs to. Among them, the observation probability can be determined by comprehensive information such as the vertical distance, projection distance and direction between the trajectory point and the road.

[0125] In this embodiment, the trajectory observation effect of the vehicle obtained by weighting the v2 main path can be shown in Figure 2(b). For example, Figure 2(b) is a schematic diagram of the trajectory observation effect of a vehicle according to an embodiment of the present invention. For the bifurcated road scene, the trajectory (the directed line composed of the dotted line shown in Figure 2(b)) passes through the middle of the fork, although the matching roads on both sides of the fork (the directed lines composed of the solid lines shown in Figure 2(b)) are reasonable. However, the vehicle route matching method in this application will give a higher observation probability to the road whose trajectory is observed to be composed of the main path of this route (the directed line composed of the dotted line shown in Figure 2(b)).

[0126] After calculating the observation probability between the trajectory point and the target road and weighting it using the v2 main path, enter step S204 to traverse the trajectory points and state transition.

[0127] In the technical solution provided in step S204 of the present invention, the transition probability between roads can be given by the connectivity between roads. If the roads are directly connected, the transition probability between roads can be 1; if the roads are not connected, the transition probability between roads can be 0; if the roads are indirectly connected, the transition probability between roads can be a value between 0 and 1.

[0128] In this embodiment, the trajectory is traversed from the second one, the maximum fusion probability of the transfer from the previous trajectory point to the current trajectory point is calculated, and the state of the previous trajectory point from which the transfer is made is recorded. The fusion probability can be fused from the observation probability of the previous trajectory point, the observation probability of the current trajectory point, and the transition probability of the observation probability of the previous trajectory point and the observation probability of the current trajectory point.

[0129] For example, by combining the first observation probability that the previous trajectory point A belongs to each target road, the second observation probability that the current trajectory point B belongs to each target road, and the transfer probability from each target road to which the previous trajectory point A belongs to to each target road to which the current trajectory point B belongs, the maximum fusion probability of the previous trajectory point A transferring to the current trajectory point B can be obtained. This is only an example and is not specifically limited.

[0130] After traversing the trajectory points and the state transition, the process proceeds to step S205 , where the process starts backtracking from the state with the maximum fusion probability at the tail to obtain the matching states of all trajectory points.

[0131] In the technical solution provided in the above step S205 of the present invention, after all trajectory points are traversed, backtracking is performed starting from the observation probability corresponding to the maximum fusion probability of the last trajectory point in the road network, and the matching state of each trajectory point and the road network can be obtained, that is, the matching degree between the trajectory point and the target road network can be obtained. The above observation probability may include the first observation probability and the second observation probability corresponding to the target fusion probability, and the above backtracking may be path backtracking.

[0132] In this embodiment, the matching effect of the vehicle's trajectory point and the road network can be shown in Figure 2(c). Figure 2(c) is a schematic diagram of the matching effect of the vehicle's trajectory point and the road network according to an embodiment of the present invention. Black thick solid staggered lines can be used to represent the road network, black-bordered diamonds can be used to represent the vehicle's trajectory points, black thick dashed lines can be used to represent the main road attributes, and black non-thick solid lines can be used to represent the association between the trajectory point and the road network.

[0133] In this embodiment, the vehicle can upload the current initial position to the server so that the server can obtain the current navigation information of the current target position corresponding to the current initial position. According to the current path in the current navigation information, at least one target road can be determined. According to the topological information of the above target road, a target road network matching the vehicle can be constructed, and the target road network can be matched with at least one trajectory point of the current driving route of the vehicle to obtain a matching result, and the matching result is sent to the vehicle. Figure 2 (d) is a schematic diagram of data interaction between a vehicle and a server according to an embodiment of the present invention. As shown in Figure 2 (d), vehicle 230 can upload the current initial position to server 231, and server 231 can send the obtained matching result to vehicle 230.

[0134] In this embodiment, on the basis of determining the target road, a target road network matching the vehicle can be constructed according to the topological information of the target road, and in the constructed target road network, at least one trajectory point of the current driving route of the vehicle is matched to obtain the degree of matching between the trajectory point and the target road network, thereby achieving the purpose of ensuring the accuracy of the target road network, thereby solving the technical problem of low accuracy of route matching, and further realizing the technical effect of improving the accuracy of route matching.

[0135] According to another aspect of the embodiments of the present invention, corresponding to the embodiments of the above-mentioned vehicle route matching method, this specification also provides a vehicle route matching device. Figure 3 is a structural block diagram of a vehicle route matching device according to an embodiment of the present invention, such as Figure 3 As shown, the vehicle route matching device 300 may include: a first determining unit 302 , an acquiring unit 304 , a second determining unit 306 , a constructing unit 308 and a matching unit 310 .

[0136] The first determining unit 302 is used to determine the current initial position of the vehicle at the current moment.

[0137] The acquisition unit 304 is used to acquire the current navigation information of the current target position corresponding to the current initial position, wherein the current target position is located in the driving direction of the vehicle and the target distance is maintained between the current target position and the current initial position, and the current navigation information includes the current path passing through the current initial position and the current target position.

[0138] The second determining unit 306 is used to determine at least one target road based on the current path in the current navigation information, wherein the target road is used to represent a road on which the vehicle can travel.

[0139] The construction unit 308 is used to construct a target road network matching the vehicle based on the topological information of the target road, wherein the topological information is used to represent the predecessor information and / or the successor information of the target road.

[0140] The matching unit 310 is used to match the target road network with at least one trajectory point of the current driving route of the vehicle to obtain a matching result so as to determine the road under the current driving route in the target road network, wherein the current driving route includes the current initial position, and the matching result is used to indicate the degree of matching between the trajectory point and the target road network.

[0141] Optionally, the construction unit 308 may include: a first determination module, used to determine the historical initial position of the vehicle at a historical moment; a first acquisition module, used to acquire historical navigation information of a historical target position corresponding to the historical initial position, wherein the historical target position is located in the historical driving direction of the vehicle and a target distance is maintained between the historical target position and the historical initial position, and the historical navigation information includes a historical path passing through the historical initial position and the historical target position; and a construction module, used to construct a target road network based on topology information, a current path and historical paths in the historical navigation information.

[0142] Optionally, the construction module may include: a first determination submodule, used to determine the current road traversed by the current path and the historical roads traversed by the historical path; a splicing submodule, used to splice the current road and the historical road under the topological information to obtain the target road network.

[0143] Optionally, the second determination unit 306 may include: a second determination module, used to determine the historical initial position of the vehicle at a historical moment; a second acquisition module, used to acquire historical navigation information of a historical target position corresponding to the historical initial position, wherein the historical target position is located in the historical driving direction of the vehicle, and a target distance is maintained between the historical target position and the historical initial position, and the historical navigation information includes a historical path passing through the historical initial position and the historical target position; a traversal module, used to traverse the current path and the historical paths in the historical navigation information to obtain a traversal result, wherein the traversal result is used to indicate whether there is a path passing through the same area in the current path and the historical path; a third determination module, used to determine at least one target road based on the traversal result.

[0144] Optionally, the current path includes the current main path where the current initial position is located, and the current sub-path connected to the current main path, the historical path includes the historical main path where the historical initial position is located, and the historical sub-path connected to the historical main path, and the traversal module may include: a traversal sub-module, which is used to traverse the current main path, the current sub-path, the historical main path and the historical sub-path to obtain a traversal result.

[0145] Optionally, the third determination module may include: a deletion submodule, used to delete the paths passing through the same area from the current path in response to the traversal results indicating that there are paths passing through the same area in the current path and the historical path; and a second determination submodule, used to determine the historical roads traversed by the historical path and the current roads traversed by the current path after deletion as target roads.

[0146] Optionally, the at least one trajectory point includes a current trajectory point and a previous trajectory point located before the current trajectory point, wherein the current trajectory point is the last trajectory point among the multiple trajectory points, and the matching unit 310 may include: a fourth determination module, used to determine at least one first observation probability between the previous trajectory point and at least one target road, and at least one second observation probability between the current trajectory point and at least one target road, wherein the first observation probability is used to indicate the degree of possibility that the previous trajectory point is located on the target road, and the second observation probability is used to indicate the degree of possibility that the current trajectory point is located on the target road; a fifth determination module, used to determine at least one transition probability of the at least one first observation probability being converted to at least one second observation probability, wherein the transition probability is used to indicate the degree of possibility that the first observation probability is converted to the second observation probability; a fusion module, used to fuse the at least one first observation probability, the at least one second observation probability and the corresponding transition probability to obtain at least one fused probability of the previous trajectory point being converted to the current trajectory point; and a matching module, used to match the at least one trajectory point with the target road network based on the at least one fused probability in response to the current trajectory point being the last trajectory point, to obtain a matching result.

[0147] Optionally, the matching module may include: a third determination submodule, for determining a target fusion probability from multiple fusion probabilities in response to the current trajectory point being the last trajectory point, wherein the target fusion probability is greater than the probability other than the target fusion probability in the multiple fusion probabilities; a matching submodule, for matching the target road network with at least one trajectory point using the first observation probability and the second observation probability corresponding to the target fusion probability to obtain a matching result.

[0148] In this embodiment, the following units are provided in the route matching device of the vehicle: a first determining unit, used to determine the current initial position of the vehicle at the current moment; an acquiring unit, used to acquire the current navigation information of the current target position corresponding to the current initial position, wherein the current target position is located in the driving direction of the vehicle, and the current target position maintains a target distance with the current initial position, and the current navigation information includes a current path passing through the current initial position and the current target position; a second determining unit, used to determine at least one target road based on the current path in the current navigation information, wherein the target road is used to indicate a road on which the vehicle can travel; a constructing unit, used to construct the navigation information of the vehicle; Based on the topological information of the target road, a target road network matched with the vehicle is constructed, wherein the topological information is used to represent the predecessor information and / or the successor information of the target road; a matching unit is used to match the target road network with at least one trajectory point of the current driving route of the vehicle to obtain a matching result, so as to determine the road under the current driving route in the target road network, wherein the current driving route includes the current initial position, and the matching result is used to represent the matching degree between the trajectory point and the target road network, thereby achieving the purpose of ensuring the accuracy of the target road network, thereby solving the technical problem of low accuracy of route matching, and further realizing the technical effect of improving the accuracy of route matching.

[0149] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a stored executable program, wherein when the executable program runs, the device where the storage medium is located is controlled to execute any one of the above methods.

[0150] According to another aspect of an embodiment of the present invention, a computer program product is provided. The computer program product includes a computer program. When the computer program is executed by a processor, any one of the above methods is implemented.

[0151] According to another aspect of an embodiment of the present invention, a vehicle is provided, including: a memory storing an executable program; and a processor running the program, wherein the program executes any one of the above methods when running.

[0152] Figure 4 is a structural block diagram of a vehicle according to an embodiment of the present invention. Figure 4 As shown, the components of the vehicle 400 include but are not limited to a memory 410 and a processor 420. The processor 420 is connected to the memory 410 via a bus 430, and the database 450 is used to store data.

[0153] The vehicle 400 may also include an access device 440 that enables the vehicle 400 to communicate via one or more networks 460. Examples of these networks include a Public Switched Telephone Network (PSTN), a Local Area Network (LAN), a Wide Area Network (WAN), a Personal Area Network (PAN), or a combination of communication networks such as the Internet. The access device 440 may include one or more of any type of network interface (e.g., a network interface controller (NIC)) of wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a Worldwide Interoperability for Microwave Access (Wi-MAX) interface, an Ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a Bluetooth interface, a Near Field Communication (NFC) interface, and the like.

[0154] In one embodiment of the present disclosure, the above components of the vehicle 400 and Figure 4 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Figure 4 The vehicle structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of the present disclosure. Those skilled in the art may add or replace other components as needed.

[0155] It should be noted that the serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0156] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0157] In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic, for example, the division of units can be a logical function division, and there can be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0158] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0159] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0160] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, referred to as Read-Only Memory), random access memory (RAM, referred to as Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc., which can store program code.

[0161] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A vehicle route matching method, characterized in that: include: Determine the current initial position of the vehicle at the current moment; Acquire current navigation information of a current target position corresponding to the current initial position, wherein the current target position is located in the driving direction of the vehicle, and a target distance is maintained between the current target position and the current initial position, and the current navigation information includes a current path passing through the current initial position and the current target position; Determine at least one target road based on the current path in the current navigation information, wherein the target road is used to represent a road on which the vehicle can travel; Based on the topological information of the target road, construct a target road network matching the vehicle, wherein the topological information is used to represent the predecessor information and / or the successor information of the target road; The target road network is matched with at least one trajectory point of the current driving route of the vehicle to obtain a matching result, so as to determine the road under the current driving route in the target road network, wherein the current driving route includes the current initial position, and the matching result is used to indicate the degree of matching between the trajectory point and the target road network.

2. The method according to claim 1, characterized in that Based on the topological information of the target road, a target road network matching the vehicle is constructed, including: Determining the historical initial position of the vehicle at the historical moment; Acquire historical navigation information of a historical target position corresponding to the historical initial position, wherein the historical target position is located in a historical driving direction of the vehicle, and the historical target position maintains the target distance with the historical initial position, and the historical navigation information includes a historical path passing through the historical initial position and the historical target position; The target road network is constructed based on the topology information, the current path and the historical path in the historical navigation information.

3. The method according to claim 2, characterized in that Constructing the target road network based on the topology information, the current path and the historical path in the historical navigation information includes: Determine the current road traversed by the current path and the historical roads traversed by the historical path; Based on the topological information, the current road and the historical road are spliced ​​to obtain the target road network.

4. The method according to claim 1, characterized in that: Determining at least one target road based on the current path in the current navigation information includes: Determining the historical initial position of the vehicle at the historical moment; Acquire historical navigation information of a historical target position corresponding to the historical initial position, wherein the historical target position is located in a historical driving direction of the vehicle, and the historical target position maintains the target distance with the historical initial position, and the historical navigation information includes a historical path passing through the historical initial position and the historical target position; Traversing the current path and the historical path in the historical navigation information to obtain a traversal result, wherein the traversal result is used to indicate whether there is a path passing through the same area in the current path and the historical path; Based on the traversal result, at least one target road is determined.

5. The method according to claim 4, characterized in that The current path includes the current main path where the current initial position is located, and the current sub-path connected to the current main path; the historical path includes the historical main path where the historical initial position is located, and the historical sub-path connected to the historical main path; the current path and the historical path in the historical navigation information are traversed to obtain a traversal result, including: The current main path, the current sub-path, the historical main path and the historical sub-path are traversed to obtain the traversal result.

6. The method according to claim 4, characterized in that Based on the traversal result, determining at least one target road includes: In response to the traversal result indicating that there is a path passing through the same area in the current path and the historical path, deleting the path passing through the same area from the current path; The historical roads traversed by the historical path and the current road traversed by the deleted current path are determined as the target roads.

7. The method according to claim 1, characterized in that At least one of the track points includes a current track point and a previous track point located before the current track point, wherein the current track point is the last track point among the multiple track points, and matching at least one track point of the current driving route of the vehicle with the target road network to obtain a matching result includes: Determine at least one first observation probability between the previous trajectory point and at least one of the target roads, and at least one second observation probability between the current trajectory point and at least one of the target roads, wherein the first observation probability is used to indicate the degree of possibility that the previous trajectory point is located at the target road, and the second observation probability is used to indicate the degree of possibility that the current trajectory point is located at the target road; Determine at least one transition probability of converting at least one of the first observation probabilities to at least one of the second observation probabilities, wherein the transition probability is used to indicate a degree of possibility of converting the first observation probability to the second observation probability; Fusing at least one of the first observation probability, at least one of the second observation probability, and the corresponding transition probability to obtain at least one fused probability of the previous trajectory point being converted to the current trajectory point; In response to the current trajectory point being the last trajectory point, at least one of the trajectory points is matched with the target road network based on at least one of the fusion probabilities to obtain the matching result.

8. The method according to claim 7, characterized in that In response to the current trajectory point being the last trajectory point, matching at least one of the trajectory points with the target road network based on at least one of the fusion probabilities to obtain the matching result includes: In response to the current trajectory point being the last trajectory point, determining a target fusion probability from the multiple fusion probabilities, wherein the target fusion probability is greater than probabilities other than the target fusion probability in the multiple fusion probabilities; The first observation probability and the second observation probability corresponding to the target fusion probability are used to match at least one of the trajectory points with the target road network to obtain the matching result.

9. A vehicle route matching device, characterized in that: include: A first determining unit, used to determine a current initial position of the vehicle at a current moment; an acquisition unit, configured to acquire current navigation information of a current target position corresponding to the current initial position, wherein the current target position maintains a target distance from the current initial position in the driving direction of the vehicle, and the current navigation information includes a current path passing through the current initial position and the current target position; A second determining unit, configured to determine at least one target road based on the current path in the current navigation information, wherein the target road is used to represent a road on which the vehicle can travel; A construction unit, configured to construct a target road network matching the vehicle based on topological information of the target road, wherein the topological information is used to represent predecessor information and / or successor information of the target road; A matching unit is used to match the target road network with at least one trajectory point of the current driving route of the vehicle to obtain a matching result, so as to determine a road under the current driving route in the target road network, wherein the current driving route includes the current initial position, and the matching result is used to indicate the degree of matching between the trajectory point and the target road network.

10. A processor, characterized in that: The processor is used to run a program, wherein the program, when run by the processor, executes the route matching method for the vehicle according to any one of claims 1 to 8.

11. A vehicle, characterized in that: include: A memory storing an executable program; A processor is used to run the program, wherein the vehicle route matching method described in any one of claims 1 to 8 is executed when the program is run.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored executable program, wherein when the executable program is executed, the device where the storage medium is located is controlled to execute the vehicle route matching method according to any one of claims 1 to 8.

Images