Navigation path matching method and device, electronic equipment, storage medium and vehicle

Abstract

The invention provides a navigation path matching method and device, electronic equipment, a storage medium and a vehicle, and relates to the technical field of navigation. The navigation path matching method comprises the following steps: acquiring a current position and a navigation path, wherein the navigation path exists in a pre-acquired first map; collecting road characteristics of a front road in the first map, wherein the front road is determined by a current position and a navigation path; constructing a road network relation covered by a navigation path according to the road characteristics; and according to the current position, searching and matching the road network relationship in a pre-acquired second map, and determining the position and topological relationship of the navigation path in the second map. According to the invention, the road network relationship covered by the navigation path is constructed by collecting the road features in the first map, and then the road network relationship is searched and matched in the second map, so that the matching of the navigation path among different maps is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of navigation, and provides a navigation path matching method, device, electronic device, storage medium and vehicle. Background Art

[0002] With the development of technology, more and more vehicles with autonomous driving functions are put into use. During the autonomous driving process of a vehicle, a high-precision map is required for navigation. The high-precision map can provide relatively accurate road condition information, such as lane lines, road signs, ground markings, etc. In actual use, users often navigate through the navigation map on the in-vehicle device, which stores more semantic information, such as the coordinates of hospitals, schools, supermarkets, gas stations, etc. Therefore, when the vehicle is driving autonomously, it is necessary to match the navigation path generated by the navigation map on the in-vehicle device to the high-precision map.

[0003] However, since the high-precision map pre-installed on the in-vehicle device and the navigation map used by the user may be produced by different map manufacturers, the naming rules and the like in the two maps are different, making it difficult to match the navigation path. Summary of the Invention

[0004] Embodiments of the present invention provide a navigation path matching method, device, electronic device, storage medium and vehicle to achieve navigation path matching between maps of different manufacturers.

[0005] To solve the above problems, in a first aspect, the present invention discloses a navigation path matching method, including:

[0006] Obtain the current position and a navigation path, where the navigation path exists in a first map obtained in advance;

[0007] Collect road features of the road ahead in the first map, where the road ahead is determined by the current position and the navigation path;

[0008] Construct a road network relationship covered by the navigation path according to the road features;

[0009] Search and match the road network relationship in a second map obtained in advance according to the current position, and determine the position and topological relationship of the navigation path in the second map.

[0010] Optionally, the road features of the road ahead include at least one of the following elements: road bifurcation points, section attributes, road shape information;

[0011] The road ahead includes a preset distance or journey.

[0012] Optionally, the road bifurcation point includes the distance or journey between the bifurcation in the forward road and the current position, and the angle between the branch where the navigation path is located and the main road;

[0013] The road section attribute includes the road grade;

[0014] The road shape information includes the slope and / or curvature of the road.

[0015] Optionally, searching and matching the road network relationship in a pre-acquired second map according to the current position includes:

[0016] Determining the position of the current position in the second map according to the current position;

[0017] Searching and matching the road network relationship in the second map according to the position of the current position in the second map and in combination with the navigation path.

[0018] Optionally, searching and matching the road network relationship in a pre-acquired second map includes:

[0019] Matching the bifurcation in the road network relationship with the bifurcation in the second map;

[0020] Matching the road attributes of each road in the road network relationship with the road attributes of each road in the second map.

[0021] Optionally, the first map and the second map adopt the same method in expressing road network elements and topological structures.

[0022] In a second aspect, the present invention also discloses a navigation path matching device, including:

[0023] An information acquisition module, configured to acquire the current position and the navigation path, where the navigation path exists in a pre-acquired first map; and is further configured to collect the road features of the forward road in the first map, where the forward road is determined by the current position and the navigation path;

[0024] A path matching module, configured to construct the road network relationship covered by the navigation path according to the road features; and is further configured to search and match the road network relationship in a pre-acquired second map according to the current position, and determine the position and topological relationship of the navigation path in the second map.

[0025] Optionally, the road features of the forward road include at least one of the following elements: road bifurcation point, road section attribute, road shape information;

[0026] The forward road includes a preset distance or journey.

[0027] Optionally, the road bifurcation point includes the distance or journey of the bifurcation in the forward road from the current position, and the angle between the branch where the navigation path is located and the main road;

[0028] The road section attribute includes the road grade;

[0029] The road shape information includes the slope and / or curvature of the road.

[0030] Optionally, the path matching module further includes:

[0031] A path matching sub-module, configured to determine the position of the current position in the second map according to the current position;

[0032] It is further configured to search and match the road network relationship in the second map according to the position of the current position in the second map and in combination with the navigation path.

[0033] Optionally, the path sub-matching module is specifically configured to match the bifurcation in the road network relationship with the bifurcation in the second map;

[0034] It is further configured to match the road attributes of each road in the road network relationship with the road attributes of each road in the second map.

[0035] Optionally, the first map and the second map adopt the same method in expressing road network elements and topological structures.

[0036] In a third aspect, the present invention further discloses an electronic device, including:

[0037] At least one processor; and,

[0038] A memory communicatively connected to the at least one processor; wherein,

[0039] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the navigation path matching method described above.

[0040] In a fourth aspect, the present invention further discloses a computer-readable storage medium storing a computer program, characterized in that the computer program implements the above-mentioned navigation path matching method when executed by a processor.

[0041] In a fifth aspect, the present invention further discloses a vehicle, and the vehicle includes the above-mentioned navigation path matching device.

[0042] The present invention has the following advantages:

[0043] The present invention realizes the matching of a navigation path in a first map to a second map, that is, the matching of navigation paths between different maps, by obtaining the current position and a navigation path existing in the first map, collecting road features of the road ahead in the first map, constructing a road network relationship covered by the navigation path according to the road features, and searching and matching the road network relationship in a pre-obtained second map according to the current position to determine the position and topological relationship of the navigation path in the second map. By collecting and constructing a road network relationship according to the road features in the first map and then searching and matching the road network relationship in the second map, the present invention overcomes the problem that it is difficult to match navigation paths due to different internal naming rules and the like in different maps. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0045] Figure 1 is a flowchart of a navigation path matching method provided by an embodiment of the present invention;

[0046] Figure 2 is a flowchart of a method for realizing searching and matching of a road network relationship in a second map according to the current position provided by an embodiment of the present invention;

[0047] FIGS. 3(a), (b), and (c) are schematic diagrams showing the process of describing a road network relationship in an embodiment of the present invention;

[0048] Figure 4 is a schematic diagram of a navigation path matching device provided by another embodiment of the present invention;

[0049] Figure 5 is a schematic diagram of a navigation path matching device provided by still another embodiment of the present invention;

[0050] Figure 6 is a schematic diagram of an electronic device provided by still another embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0051] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0052] One embodiment of the present invention relates to a navigation path matching method, and its process is as Figure 1 shown, including:

[0053] Step 101, obtain the current location and the navigation path, where the navigation path exists in the first map obtained in advance.

[0054] Specifically, the current location can be obtained through a positioning device in the vehicle, and positioning systems such as GPS and Beidou can be used for positioning. The present invention does not make any limitations in this regard. The navigation path is the navigation path generated when the user navigates on the map in the in-vehicle device or other devices. The first map is the map on which the navigation path is generated when the user uses navigation. The first map can be a navigation map, a high-precision map, etc. The present invention does not make any limitations on the map type of the first map.

[0055] Step 102, collect the road features of the road ahead in the first map, where the road ahead is determined by the current location and the navigation path.

[0056] Specifically, the road ahead refers to the road that passes forward along the navigation path based on the current location. The road features are the features used to describe the road network relationship, and specifically can include at least one of the following elements: road bifurcation points, section attributes, and road shape information. Of course, the road features can also include other elements, such as the color of the road surface, road speed limits, etc. The present invention does not make specific limitations in this regard.

[0057] In the embodiments of the present invention, the road bifurcation points can include the distance or mileage between the bifurcation in the road ahead and the current location, and the angle between the branch where the navigation path is located and the main road; the section attributes can include the road grade (for example: expressway, urban expressway, national highway, provincial highway, county highway, etc.); the road shape information can include the slope and / or curvature of the road. In practical applications, the above road features can also include other information, such as the road bifurcation points can also include information such as the location of the bifurcation points, and the section attributes can also include the number of lanes and road width of the road. The present invention does not make specific limitations in this regard. These road features are used to construct the road network relationship. When there are more road features, the road network relationship is more complex, which is more helpful for subsequent navigation path matching.

[0058] In addition, in practical applications, the road ahead can include a preset distance or mileage. At this time, only the road features within a certain distance ahead need to be collected, instead of collecting the road features covered by the entire navigation path, thereby saving computing time and improving the immediacy of navigation path matching.

[0059] Step 103, construct the road network relationship covered by the navigation path according to the road features.

[0060] Specifically, the road network relationship covered by the navigation path is the road network relationship formed by the roads passed by the navigation path. For example, the road network relationship can be described as follows: Along the current path, there is a fork X meters in front of the vehicle. What is the angle between the navigation path on the branch where it is located and the current main road? The road grade is expressway, urban expressway, national highway, provincial highway, county highway, etc. Of course, the above is only for illustration. The actual road network relationship may include more road features and can be adjusted according to needs during actual use. The present invention does not limit this.

[0061] Step 104: According to the current position, search and match the road network relationship in the second map obtained in advance, and determine the position and topological relationship of the navigation path in the second map.

[0062] In the embodiments of the present application, the map type of the first map is different from the map type of the second map. Specifically, the second map can also be a navigation map, a high-precision map, etc. The present invention does not specifically limit the type of the second map.

[0063] During the search and matching process, since the same positioning device of the vehicle is used for positioning both the first map and the second map during positioning, and the same positioning source is used during positioning, the two maps have the same positioning time and small position errors, which basically do not affect subsequent matching.

[0064] Therefore, during the search and matching process, the position and topological relationship of the navigation path in the second map can be matched. Specifically, it can be the position of the vehicle in the second map and the topological relationship between the current lane where the vehicle is located in the second map and the road network ahead.

[0065] In addition, in actual applications, the first map and the second map that adopt the same method in expressing road network elements and topological structures can be used for navigation path matching. At this time, since the two maps adopt the same expression method (that is, the data structures of the two maps for expressing road network elements and topological structures are the same), the matching is more convenient and fast during matching, which can effectively improve the success rate of matching and reduce the matching time.

[0066] The present invention obtains the current position and the navigation path existing in the first map, collects the road features of the road ahead in the first map, constructs the road network relationship covered by the navigation path according to the road features, and searches and matches the road network relationship in the second map obtained in advance according to the current position to determine the position and topological relationship of the navigation path in the second map, realizing the matching of the navigation path in the first map to the second map, that is, realizing the navigation path matching between different maps. The present invention overcomes the problem that it is difficult to match navigation paths due to different internal naming rules, etc. of different maps by collecting and constructing the road network relationship according to the road features in the first map and then searching and matching the road network relationship in the second map.

[0067] Further, as Figure 2 shown, in the embodiments of the present invention, when searching and matching the road network relationship in a pre-acquired second map according to the current position, it may include:

[0068] Step 201: Determine the position of the current position in the second map according to the current position.

[0069] Step 202: According to the position of the current position in the second map, combine this position and the navigation path, and search and match the road network relationship in the second map.

[0070] In the embodiments of the present invention, when performing navigation path matching in the pre-acquired second map, first, it is necessary to determine the position of the current position in the second map according to the current position. That is, according to the current position of the vehicle in the first map, determine the current position of the vehicle in the second map. Then, according to the current position of the vehicle in the second map, combine the navigation path, for example, it may be along the navigation path, and search and match the road network relationship in the second map.

[0071] Specifically, step 202 includes:

[0072] Step 202a: Match the fork in the road network relationship with the fork in the second map.

[0073] Step 203b: Match the road attributes of each road in the road network relationship with the road attributes of each road in the second map.

[0074] In the embodiments of the present invention, when searching and matching different elements in the road network relationship in the second map, first, the position of the current position in the second map can be determined. Then, according to this position along the navigation path, the fork in the road network relationship can be matched with the corresponding fork in the second map. Finally, the road attributes in the road network relationship are matched with the attributes of the roads in the second map. Among them, when matching the fork, the included angle between the branch road and the main road where the navigation path is located can also be determined, so as to perform navigation path matching. Since the road network relationship in the embodiments of the present invention is the road network relationship composed of the roads covered by the navigation path, this road network relationship can also be regarded as the road network relationship of the navigation path. Through the search and matching of the road network relationship, the navigation path generated in the first map can be better restored in the second map.

[0075] It should be noted that the above steps 201-202 may not be carried out in this order and can be flexibly adjusted during actual use. The present invention does not make any limitation in this regard. The above steps are only for illustrative purposes. The road features in actual applications may include more elements and need to be matched one by one. Different road features and matching orders can be selected according to different situations for matching. The present invention does not make specific limitations in this regard.

[0076] As shown in FIGS. 3(a), (b), and (c), which illustrate a schematic diagram of the process of describing the road network relationship in an embodiment of the present invention. In combination with FIGS. 3(a), (b), and (c), the method of the present invention can be as follows:

[0077] First, obtain the current position and the navigation path in the first map [i.e., the map shown in FIG. 3(a)]. According to the current position and the navigation path, obtain the road features of the road ahead in the first map. For example, there are fork A, B, and C at 300 m, 700 m, and 1200 m ahead of the vehicle respectively; fork A has two branches path1 and path2, and the angles between them and the main road are 45 degrees to the left and 45 degrees to the right respectively, and the road grades are national highway and provincial highway respectively;

[0078] Fork B has branch path3, and the angle between it and the main road is 45 degrees to the right, and the road grade is urban expressway;

[0079] Fork C has branch path4, and the angle between it and the main road is 30 degrees to the left, and the road grade is provincial highway;

[0080] The navigation path is path1-path4.

[0081] According to the above road features, construct the road network relationship covered by the navigation path, that is, the road network relationship shown in FIG. 3(b). Then, in the second map [i.e., the map shown in FIG. 3(c)], determine the current position of the vehicle in the second map. Along the navigation path, determine the fork A, B, and C in the second map corresponding to fork A, B, and C in the road network relationship, and the branch information path1, path2, path3, and path4 included in each fork. Match the road attributes (i.e., road grades: expressway, urban expressway, national highway, provincial highway, county highway, etc.) of each road in the road network relationship with the road attributes of each road in the second map. In this way, the position and topological relationship of the navigation path path1-path4 in the second map are obtained, as shown by the grid-like black lines in FIG. 3(c).

[0082] The above content constitutes the road network relationship of the current navigation path. The road network relationship includes the road topology structure and the navigation path, that is, the road network relationship is the road network relationship formed by the roads covered by the navigation path. After constructing the above road network relationship, it is possible to perform a one-by-one search and matching in the second map according to the elements in the road network relationship, so as to obtain the navigation path in the second map.

[0083] In practical applications, there may be a situation where some elements of the road network relationship fail to match. Therefore, a matching success rate threshold can be set. During the process of searching and matching the road network relationship in the pre-obtained second map, the forks in the road network relationship are matched with the forks in the second map, and after matching the road attributes of each road in the road network relationship with the road attributes of each road in the second map, the navigation path matching method further includes:

[0084] Step S1: Determine whether the matching success rate of the forks and the road attributes of each road in the road network relationship in the second map is less than the preset threshold;

[0085] Step S2: If the matching success rate is not less than the preset threshold, determine the position and topological relationship of the navigation path in the second map;

[0086] Step S3: If the matching success rate is less than the preset threshold, re-execute step 101: Obtain the current position and the navigation path.

[0087] In the embodiment of the present invention, in order to ensure the successful matching of the navigation path, during the process of searching and matching the road network relationship in the pre-obtained second map, after matching the forks in the road network relationship with the forks in the second map and matching the road attributes of each road in the road network relationship with the road attributes of each road in the second map, it is necessary to judge the matching success rate.

[0088] First, determine whether the matching success rate of the forks and the road attributes of each road in the road network relationship in the second map is less than the preset threshold. With reference to FIGS. 3(a), (b), and (c): Determine the forks A, B, C and the branch information path1, path2, path3, path4 included in each fork, and whether the road grades of each road are the same in the second map as in the first map. If they are the same, the two are successfully matched; if they are different, the two are mismatched, and then the matching success rate is obtained.

[0089] If the matching success rate is not less than the preset threshold, it is considered that the current matching is successful, and the position and topological relationship of the navigation path in the second map can be determined; if the matching success rate is less than the preset threshold, it is considered that the road network relationship fails to search and match in the pre-acquired second map, and the position and topological relationship of the navigation path in the second map cannot be determined. It is necessary to re-execute step 101: obtain the current position and the navigation path, and repeat the above steps until the matching is successful, and determine the position and topological relationship of the navigation path in the second map.

[0090] When matching the road network relationship, when a certain number of road network relationship elements are successfully matched, the navigation path can be determined.

[0091] As Figure 4 shown, it shows a schematic diagram of a navigation path matching device provided by another embodiment of the present invention, including:

[0092] An information acquisition module 401, configured to acquire the current position and the navigation path, where the navigation path exists in a pre-acquired first map; and is further configured to collect road features of the road ahead in the first map, where the road ahead is determined by the current position and the navigation path;

[0093] A path matching module 402, configured to construct a road network relationship covered by the navigation path according to the road features; and is further configured to search and match the road network relationship in a pre-acquired second map according to the current position, and determine the position and topological relationship of the navigation path in the second map.

[0094] Optionally, the road features of the road ahead include at least one of the following elements: a road bifurcation point, a road section attribute, and road shape information;

[0095] The road ahead includes a preset distance or mileage.

[0096] Optionally, the road bifurcation point includes the distance or mileage between the bifurcation in the road ahead and the current position, and the included angle between the branch where the navigation path is located and the main road;

[0097] The road section attribute includes the road grade;

[0098] The road shape information includes the slope and / or curvature of the road.

[0099] Optionally, the path matching module 402 further includes:

[0100] A path matching sub-module 501, configured to determine the position of the current position in the second map according to the current position;

[0101] It is also used to search and match the road network relationship in the second map according to the position of the current position in the second map in combination with the navigation path;

[0102] Optionally, the path matching sub-module 501 is specifically configured to match the fork in the road network relationship with the fork in the second map;

[0103] It is also used to match the road attributes of each road in the road network relationship with the road attributes of each road in the second map.

[0104] Optionally, the first map and the second map adopt the same method in expressing road network elements and topological structures.

[0105] It should be noted that the device embodiment in the embodiment of the present invention corresponds to the method embodiment. For the specific implementation method of the device embodiment, refer to the description of the method embodiment, and details are not described here in detail.

[0106] Another embodiment of the present invention relates to a vehicle, including the above-mentioned navigation path matching device. For the detailed content, refer to the above device embodiment, and details are not described here in detail.

[0107] Another embodiment of the present invention relates to an electronic device, as Figure 6 shown, including:

[0108] At least one processor 601; and,

[0109] A memory 602 communicatively connected to the at least one processor 601; wherein,

[0110] The memory 602 stores instructions executable by the at least one processor. The instructions are executed by the at least one processor 601 so that the at least one processor 601 can execute the navigation path matching method according to an embodiment of the present invention.

[0111] Wherein, the memory and the processor are connected by a bus. The bus can include any number of interconnected buses and bridges. The bus connects various circuits of one or more processors and memories together. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art. Therefore, they are not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be an element or multiple elements, such as multiple receivers and transmitters, and provides a unit for communicating with various other devices on the transmission medium. The data processed by the processor can be transmitted through a wired medium or transmitted over a wireless medium through an antenna. Further, the antenna also receives data and transmits the data to the processor.

[0112] The processor is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. The memory can be used to store the data used by the processor during operation.

[0113] Another embodiment of the present invention relates to a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the method embodiments described above are implemented.

[0114] That is, those skilled in the art can understand that all or part of the steps in implementing the methods of the above embodiments can be completed by instructing relevant hardware through a program. The program is stored in a storage medium, including several instructions for causing a device (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods described in the various embodiments of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0115] It should be noted that the embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the processes and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal devices generate means for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0116] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means implements the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0117] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device, so that a series of operation steps are executed on the computer or other programmable terminal device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable terminal device provide for implementing the process Figure 1 in one process or multiple processes and / or blocks Figure 1 steps for the functions specified in one block or multiple blocks.

[0118] Although the preferred embodiments of the embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concepts. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present invention.

[0119] Finally, it should also be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, article or terminal device comprising the element.

[0120] The above has introduced in detail a navigation path matching method, device, electronic device, storage medium and vehicle provided by the present invention. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A navigation path matching method, characterized in that including: obtaining the current location and a navigation path, where the navigation path exists in a pre-obtained first map; collecting road features of the road ahead in the first map, where the road ahead is determined by the current location and the navigation path; constructing a road network relationship covered by the navigation path according to the road features; searching and matching the road network relationship in a pre-obtained second map according to the current location to determine the location and topological relationship of the navigation path in the second map.

2. The method according to claim 1, wherein The road features of the road ahead include at least one of the following elements: road bifurcation points, road section attributes, and road shape information; The road ahead includes a preset distance or mileage.

3. The method according to claim 2, wherein The road bifurcation point includes the distance or mileage between the bifurcation in the road ahead and the current location, and the angle between the branch where the navigation path is located and the main road; The road section attribute includes the road grade; The road shape information includes the slope and / or curvature of the road.

4. The method according to claim 3, wherein The searching and matching the road network relationship in a pre-obtained second map according to the current location includes: determining the location of the current location in the second map according to the current location; searching and matching the road network relationship in the second map according to the location of the current location in the second map and in combination with the navigation path.

5. The method according to claim 4, wherein The searching and matching the road network relationship in a pre-obtained second map includes: matching the bifurcation in the road network relationship with the bifurcation in the second map; matching the road attributes of each road in the road network relationship with the road attributes of each road in the second map.

6. The method according to claim 1, wherein The first map and the second map adopt the same method in expressing road network elements and topological structures.

7. A navigation path matching device, characterized in that, including: an information acquisition module, configured to obtain the current location and a navigation path, where the navigation path exists in a pre-obtained first map; and further configured to collect road features of the road ahead in the first map, where the road ahead is determined by the current location and the navigation path; a path matching module, configured to construct a road network relationship covered by the navigation path according to the road features; and further configured to search and match the road network relationship in a pre-obtained second map according to the current location to determine the location and topological relationship of the navigation path in the second map.

8. An electronic device, characterized in that, including: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the navigation path matching method according to any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the navigation path matching method according to any one of claims 1 to 6.

10. A vehicle, characterized in that, The vehicle includes the navigation path matching device according to claim 7.

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