Vehicle trajectory offset correction method, device, and electronic device

Abstract

The present disclosure provides a vehicle trajectory offset correction method, apparatus (1000) and electronic device. The method includes: acquiring (101) a first road locus (301, 401) including a plurality of first locus points; acquiring locus display information on an electronic map of the first road locus (301, 401), the locus display information including position information where the plurality of first locus points match roads on the electronic map (102); dividing the first road locus (301, 401) into N locus road sections based on a road structure of the first road locus (301, 401), each locus road section including M consecutive first locus points, each locus road section having a unique route direction, the route direction being the route direction from a first first locus point to a last first locus point in the locus road section (103); and offset correcting a vehicle locus on the electronic map based on the N locus road sections and the locus display information (104). According to an embodiment of the present disclosure, it is possible to avoid limiting the application scenes of the vehicle trajectory offset correction method.

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This disclosure is filed based on and claims priority to a Chinese patent application having application number 202110719336.3 and filing date June 28, 2021, the entire contents of which are incorporated herein by reference.

[0002] The disclosed embodiments relate to the field of vehicle network technology, and in particular to a vehicle trajectory offset correction method, device, and electronic device. [Background technology]

[0003] With the rapid development of the Internet of Things (IoT), the application of vehicle network technology is becoming more and more widespread. Vehicle network technology can monitor the vehicle position in real time and display the monitored vehicle position on an electronic map (also called "display" in this field). In order to improve the display effect of the vehicle trajectory on the electronic map, it is usually necessary to offset correct the vehicle trajectory based on the vehicle position.

[0004] At present, the vehicle trajectory offset correction method generally performs trajectory offset correction in combination with the vehicle's historical trajectory, but the scene of the trajectory offset correction method is greatly limited, and its applicability is limited. Summary of the Invention [Problem to be solved by the invention]

[0005] The embodiments of the present disclosure provide a vehicle trajectory offset correction method, apparatus and electronic device to solve the problem that the trajectory offset correction method in the prior art is greatly limited in its scenes and applicability. [Means for solving the problem]

[0006] In a first aspect, an embodiment of the present disclosure provides a vehicle trajectory offset correction method, the method comprising: obtaining a first road locus including a plurality of first locus points; Acquiring trajectory display information on an electronic map of the first road trajectory, the trajectory display information including position information where the plurality of first trajectory points match with roads on the electronic map; Dividing the first road locus into N locus road segments based on a road structure of the first road locus, each locus road segment including M consecutive first locus points, each locus road segment having a unique route direction, the route direction being a route direction from a first first locus point to a last first locus point in a locus road segment, N being a positive integer, and M being an integer greater than 1; and offset-correcting the vehicle trajectory on the electronic map based on the N trajectory road sections and the trajectory display information.

[0007] In a second aspect, an embodiment of the present disclosure provides a vehicle trajectory offset correction apparatus, the apparatus comprising: a first acquisition module configured to acquire a first road trajectory including a plurality of first trajectory points; A second acquisition module configured to acquire trajectory display information on an electronic map of the first road trajectory, the trajectory display information including position information where the first trajectory points match with roads on the electronic map; a segmentation module configured to segment the first road locus into N locus road segments based on a road structure of the first road locus, each locus road segment including M consecutive first locus points, each locus road segment having a unique route direction, the route direction being a route direction from a first first locus point to a last first locus point in a locus road segment, N being a positive integer, and M being an integer greater than 1; and a vehicle trajectory offset correction module configured to offset correct a vehicle trajectory on the electronic map based on the N trajectory road sections and the trajectory display information.

[0008] In a third aspect, an embodiment of the present disclosure provides an electronic device, the electronic device including a processor, a memory, and a computer program stored in the memory and executable by the processor, the computer program performing steps of the vehicle trajectory offset correction method when executed by the processor.

[0009] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored therein, the computer program being configured to perform steps of the vehicle trajectory offset correction method when executed by a processor. Effect of the Invention

[0010] In an embodiment of the present disclosure, a first road locus including a plurality of first locus points is obtained; locus display information of the first road locus on an electronic map is obtained; the locus display information includes position information of the plurality of first locus points matching with roads on the electronic map; and based on a road structure of the first road locus, the first road locus is divided into N locus road sections, each locus road section includes M consecutive first locus points, each locus road section has a unique route direction, the route direction is the route direction from the first first locus point to the last first locus point in the locus road section; and offset-correct a vehicle locus on the electronic map based on the N locus road sections and the locus display information; in this way, by structuring and dividing the first road locus into N locus road sections, a real-time trajectory offset correction of a vehicle can be performed directly based on the divided N locus road sections in a subsequent process, so that the application scenarios are not limited.

[0011] In order to more clearly describe the technical solutions of the embodiments of the present disclosure, the following briefly describes the drawings that need to be used in the description of the embodiments of the present disclosure. Of course, the drawings in the following description are only some embodiments of the present disclosure, and those skilled in the art can also obtain other drawings based on these drawings without paying creative labor. [Brief description of the drawings]

[0012] [Figure 1] 4 is a flowchart of a vehicle trajectory offset correction method according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a schematic diagram of a road trace collected by a trace collection vehicle. [Diagram 3] FIG. 2 is a schematic representation of a first road trajectory that has not been road-matched; [Figure 4] FIG. 2 is a schematic representation of a first road locus being road-matched; [Diagram 5] FIG. 2 is a schematic diagram of a division of a first road locus. [Figure 6] FIG. 2 is a schematic diagram of elements after structuring of a trajectory road segment. [Figure 7] FIG. 1 is a schematic diagram of determining target trajectory points (part 1); [Figure 8] FIG. 2 is a schematic diagram of determining target trajectory points (part 2). [Figure 9] 4 is a flowchart of a specific example of a vehicle trajectory offset correction method according to an embodiment of the present disclosure. [Figure 10] FIG. 1 is a structural schematic diagram of a vehicle trajectory offset correction device according to an embodiment of the present disclosure; [Figure 11] 1 is a structural schematic diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] At present, satellite positioning technology is widely applied to various positioning and navigation, but satellite positioning has a certain error. The error usually comes from two aspects. On the one hand, the error comes from the performance of the positioning chip of the electronic device, and the positioning accuracy of the chip with good interference resistance is usually a little higher. On the other hand, the error comes from the interference of environmental factors including satellite signal shielding, signal refraction, atmospheric or ionospheric interference, for example, in places with densely packed high-rise buildings or bad weather, the Global Positioning System (GPS) signal will undergo multiple refractions and reflections, causing errors in the GPS signal and causing drift.

[0014] Therefore, in practical use, the trajectory drift of satellite positioning data is inevitable, and trajectory offset correction is a necessary technical process flow. In the related art, the vehicle trajectory offset correction method is usually combined with the vehicle's historical trajectory to perform trajectory offset correction, such as a means applied to the historical trajectory offset correction of a running vehicle, which has the problem that the scene is greatly limited and the applicability is limited. Based on this, the embodiment of the present disclosure provides a new vehicle trajectory offset correction means.

[0015] The technical solutions in the embodiments of the present disclosure will be described below clearly and fully with reference to the drawings of the implementation of the present disclosure. Of course, the described embodiments are only some of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the present disclosure.

[0016] First, a vehicle trajectory offset correction method according to an embodiment of the present disclosure will be described below.

[0017] It should be noted that the vehicle trajectory offset correction method according to the embodiment of the present disclosure relates to the field of vehicle network technology and can be widely applied to multiple scenes such as map navigation, position determination and ranging. The method can be performed by the vehicle trajectory offset correction device according to the embodiment of the present disclosure. The vehicle trajectory offset correction device can be disposed in any electronic device to perform the vehicle trajectory offset correction method. The electronic device may be a server or a terminal such as an in-vehicle terminal device, and is not specifically limited here.

[0018] A flowchart of a vehicle trajectory offset correction method according to an embodiment of the present disclosure is shown in Figure 1. As shown in Figure 1, the method may include the following steps 101 to 104.

[0019] In step 101, a first road locus including a plurality of first locus points is obtained.

[0020] Here, the first road trajectory may be a trajectory of a collected preset road, and the preset road may be a road trajectory marked on an electronic map, such as a road network of a city, or a road trajectory not marked on an electronic map, such as a road in a relatively remote area.

[0021] In practical application, the means can be applied to scenes related to known vehicle-operated roads, and the trajectory data of these known vehicle-operated roads can be pre-processed, such as vehicles operated in the park, municipal buses, municipal cleaning vehicles, and high-speed rescue vehicles, etc. That is, the road trajectories are pre-collected according to the known vehicle-operated roads, so as to obtain the first road trajectory.

[0022] The first road trajectory may include a plurality of first trajectory points, which may include only directly collected trajectory points, and may simultaneously include directly collected trajectory points and trajectory points that perform trajectory correction based on collected trajectory points, and are not specifically limited herein.

[0023] There are several ways to obtain the first road locus. For example, the positioning device can directly collect the locus points of the known vehicle operation road to obtain the first road locus, the device can collect the locus points of the known vehicle operation road, and then perform noise removal and correction processing on the collected locus points to obtain the first road locus, and the device can obtain the first road locus from another electronic device, or indirectly obtain the locus points through another electronic device such as a third party's map maker, and generate the first road locus based on the obtained locus points.

[0024] In one alternative embodiment, a trajectory collection vehicle can collect trajectory points of a known vehicle operation road, and obtain trajectory position information of consecutive trajectory points after collection, and the trajectory position information can include latitude and longitude. In order to ensure the accuracy of the first road trajectory, the accuracy of latitude and longitude can be more than seven decimal places, and the distance between two adjacent trajectory points can be about 2 meters, and the trajectory position information can further include the elevation angle between the two trajectory points.

[0025] A schematic diagram of a road trajectory collected by a trajectory collection vehicle is shown in Figure 2. As shown in Figure 2, a plurality of consecutive trajectory points 202 collected by the trajectory collection vehicle on a known vehicle operation road 201 constitute a road trajectory, and the trajectory position information of some of the collected consecutive trajectory points is as shown in Table 1.

[0026] [Table 1]

[0027] The first road locus may be a road locus directly constructed from a plurality of collected consecutive trajectory points, or may be a road locus constructed after performing noise removal and correction processing on a plurality of collected consecutive trajectory points. Correspondingly, a first road locus obtained after a trajectory collection vehicle collects trajectory points can be obtained, and in one optional embodiment, the first road locus transmitted from a trajectory collection vehicle can be received.

[0028] In step 102, locus display information on the electronic map of the first road locus is obtained, and the locus display information includes position information where the first locus points match with the roads on the electronic map.

[0029] Here, since the position collection accuracy of the track collection vehicle is usually relatively high, the first road track collected by the track collection vehicle should match the road network on the electronic map. However, in reality, due to problems such as track collection vehicle accuracy, collection environment, and electronic map accuracy, the first road track does not match the road network, which causes a certain track drift. As shown in Figure 3, the first road track 301 does not match the road network 302, and a certain track drift exists.

[0030] The first road locus is matched with the roads on the electronic map, and the display of the first road locus is matched with the roads on the electronic map, that is, the overlap of the first road locus with the road network displayed on the electronic map is realized, thereby ensuring that the real-time location information of the vehicle displayed on the first road locus is subsequently matched with the roads on the electronic map, and this process is called road matching.

[0031] Specifically, the multiple first locus points are collated on an electronic map, and for locus points that have a locus offset relative to the electronic map, the locus display information of the first locus points can be updated according to the latitude and longitude of the electronic map. Specifically, the first locus points are displayed on an electronic map, and the matching status between the first road locus and the actual road network displayed on the electronic map is observed, and for the locus road section with an offset, the first locus points are adjusted to have latitude and longitude that match the actual road network, and the locus display information of the first locus points can be updated.

[0032] That is, the position accuracy of the first locus point actually collected may not match with the display accuracy on the electronic map, so that an offset may occur in the first road locus. In this case, the actual position information of the first locus point and the position information where the first locus point matches with the road on the electronic map, that is, the display information of the first locus point, are stored in association with each other to obtain the locus display information of the first road locus on the electronic map.

[0033] Here, the method of matching the plurality of first locus points on the electronic map can be to manually or automatically match the offset first road locus with the roads displayed on the electronic map, and determine the display information of the first locus point according to the position information of the point on the electronic map that matches with the first locus point, and finally obtain the locus display information of the first road locus on the electronic map. In this case, the display effect of the locus after the road matching of the first road locus is as shown in Figure 4, and as can be seen from Figure 44, the first road locus is bound to the road, and the first road locus 401 is matched with the road network 402.

[0034] In this way, by hardening the first road trajectory and the electronic map, i.e., by hardening two relatively stable elements, namely the road and the electronic map, the offset problem between the actual road and the trajectory displayed by the electronic map can be solved, and the matching between the vehicle's driving trajectory and the actual road network can be improved.

[0035] In step 103, based on a road structure of the first road locus, divide the first road locus into N locus road segments, each locus road segment includes M consecutive first locus points, and each locus road segment has a unique route direction, which is the route direction from the first first locus point to the last first locus point in the locus road segment.

[0036] Here, N is a positive integer and M is an integer greater than 1.

[0037] Here, the road structure of the first road locus refers to the road intersections included in the first road locus, and the road intersections may include crossroads and / or corners.

[0038] That is, the first road locus can be segmented and divided, and the division principle is cross point division and bend point division, and each line segment is made as straight as possible or the direction is made consistent, and the consistency of the direction means that even if there are many curves in the route, the overall direction (which may be the route direction from the first first locus point to the last first locus point) is consistent. Here, the first first locus point may be the start point of the locus road section, and the last first locus point may be the end point of the locus road section.

[0039] Cross point division means that the cross point of two trajectory lines intersecting at a four-way intersection on the first road trajectory is the start or end point of a trajectory road section, and the two trajectory road sections can share this first trajectory point.

[0040] The turning point division means that the first locus point that has the largest turning angle on the turning route of the first road locus is selected as a turning point to divide the road section.

[0041] Each of the divided trajectory road sections is a unique route, and all of its first trajectory points are continuous and can be composed of a starting point, an end point, an intermediate point and other points, and the trajectory road section has a unique direction, and the straight line between the starting point and the end point is the approximate direction of the trajectory road section.

[0042] The start point and the end point of each trajectory road segment are connected unless a trajectory road segment is a truncated road (has only a start point or an end point). Based on the direction, start point and end point of the trajectory road segment, the interrelationship and connection manner between different trajectory road segments can be determined.

[0043] The process of this step can be called the first road locus structuring process, and road locus structuring means logically organizing the road locus and adding logically related information of each locus road section. Specifically, the first road locus can be divided to obtain N locus road sections, and the structured information of the N locus road sections can be stored.

[0044] FIG. 5 is a schematic diagram of the division of the first road locus. As shown in FIG. 5, each locus road section can include a start point, an end point and an intermediate point, and each locus road section can have a unique direction, and the straight line between the start point and the end point is the approximate direction of the locus road section. As shown in FIG. 6, the element schematic diagram after the structure of each locus road section includes a start point, an end point, an intermediate point, a route direction, a first locus point set of the locus road section and a total length of the locus road section. In addition, the structure information after the structure of the first road locus in FIG. 5 is as shown in Table 2.

[0045] [Table 2]

[0046] Here, in Table 2 above, the unit of the total length of the locus road section is m.

[0047] In step 104, the vehicle trajectory is offset-corrected on the electronic map based on the N trajectory road sections and the trajectory display information.

[0048] In this step, the offset correction of the vehicle trajectory may be based on the fusion of three elements, namely, the known roads on which the vehicle is operated, the real-time position information of the vehicle, and the electronic map, where the known roads on which the vehicle is operated and the electronic map are two relatively stable elements, while the real-time position information of the vehicle is a dynamic and error-prone element, so the differentiation process between the stable elements and the non-stable elements is the key.

[0049] Specifically, before the vehicle trajectory offset correction, the first road trajectory and the electronic map are hardened, that is, the two relatively stable elements, the road and the electronic map, are hardened, so that the offset problem between the actual road and the trajectory displayed by the electronic map can be solved.

[0050] Under the premise of solving the offset problem between the actual road and the trajectory displayed on the electronic map, perform offset correction of the vehicle position based on the N trajectory road sections to determine the actual position of the vehicle on the known vehicle operation road, realize offset correction between the real-time positioning position of the vehicle and the actual position of the vehicle, and improve the effect of offset correction of the vehicle position. Then, according to the actual position of the vehicle, obtain and display corresponding display information from the trajectory display information, realize offset correction of the display position of the actual position of the vehicle on the electronic map, realize offset correction of the vehicle trajectory on the electronic map, avoid drifting of the vehicle position on the electronic map, and improve the display effect of the vehicle trajectory on the electronic map.

[0051] In this embodiment, a first road locus including a plurality of first locus points is obtained; locus display information of the first road locus on an electronic map is obtained; the locus display information includes position information of the plurality of first locus points matching with roads on the electronic map; and according to the road structure of the first road locus, the first road locus is divided into N locus road sections, each locus road section includes M consecutive first locus points, each locus road section has a unique route direction, the route direction is the route direction from the first first locus point to the last first locus point in the locus road section; and offset correction of a vehicle locus on the electronic map based on the N locus road sections and the locus display information. In this way, by structuring and dividing the first road locus into N locus road sections, a real-time trajectory offset correction of a vehicle can be performed directly based on the divided N locus road sections in a subsequent process, so that the application scenarios are not limited.

[0052] Optionally, step 101 specifically includes: obtaining a second road locus including a plurality of second locus points; and modifying the second locus points based on a distance between two adjacent second locus points among the second locus points to obtain the first road locus; The distance between adjacent first locus points in the first road locus is greater than a first preset threshold and less than a second preset threshold.

[0053] In this embodiment, the second road locus may be a road locus composed of directly collected locus points, or may be a road locus obtained by subjecting the directly collected locus points to a noise removal process. In the following, an example will be given in which the second road locus is a road locus obtained by subjecting the directly collected locus points to a noise removal process.

[0054] Specifically, trajectory points of known vehicle operation roads can be collected by a trajectory collection vehicle, and the collected trajectory points can be denoised.

[0055] The interval of collected trajectory points is A meters (m), the distance between two adjacent trajectory points among all the trajectory points is calculated, and if the distance between a trajectory point and two adjacent trajectory points before and after it is both greater than a preset threshold, the trajectory point is deleted, that is, the hop point is deleted, where the preset threshold can be adjusted based on the trajectory point collection accuracy and / or the trajectory point interval.

[0056] The trajectory points after the noise is initially removed are displayed on an electronic map, and the continuity and smoothness of the road trajectory are artificially observed, and the existing noise points are manually deleted. After the noise points are removed, a second road trajectory can finally be obtained, and the second road trajectory may include a plurality of second trajectory points.

[0057] Then, the whole trajectory of the second road trajectory can be inspected and corrected according to the distance between two adjacent second trajectory points among the plurality of second trajectory points and the road feature information of the second road trajectory. The correction principle is that the distance between every two adjacent second trajectory points is between a first preset threshold and a second preset threshold.

[0058] Here, the first preset threshold and the second preset threshold can be set according to actual conditions. In general cases, the first preset threshold can be set to 2m, and the second preset threshold can be set to 5m, that is, the distance between two adjacent second trajectory points is set between 2m-5m.

[0059] For the correction of the second trajectory points in the important intersection and information point area included in the road feature information of the second road trajectory, the first preset threshold and the second preset threshold can be appropriately improved, and an interpolation can be performed between two adjacent second trajectory points higher than the second preset threshold. When applied to the scene of the high-precision map, the first preset threshold and the second preset threshold can also be improved, for example, the distance between two adjacent second trajectory points can be less than 1m.

[0060] In this embodiment, a second road locus including a plurality of second locus points is obtained, and the plurality of second locus points are modified based on a distance between two adjacent second locus points among the plurality of second locus points to obtain the first road locus, and the distance between adjacent first locus points in the first road locus is greater than a first preset threshold and less than a second preset threshold, thus improving the continuity, normality and completeness of the logical road locus.

[0061] Selectively modifying the plurality of second locus points based on a distance between two adjacent second locus points among the plurality of second locus points to obtain the first road locus, and modifying the plurality of second locus points according to a preset rule based on a distance between two adjacent second locus points among the plurality of second locus points to obtain the first road locus; Here, the preset rule is: When a distance between two adjacent second trajectory points is equal to or less than the first preset threshold, deleting one of the two adjacent second trajectory points; When a distance between two adjacent second trajectory points is equal to or greater than the second preset threshold, performing an interpolation between the two adjacent second trajectory points; and performing an interpolation between two adjacent second trajectory points if the two adjacent second trajectory points do not form a closed loop corresponding to a road in the target road network.

[0062] In this embodiment, the modification may include trajectory point deletion and interpolation, and may modify the second plurality of trajectory points according to a preset rule.

[0063] The preset rules include the following deletions and interpolations:

[0064] The second trajectory points having too large trajectory point density are deleted, for example, the trajectory point density is too large due to repeated collection caused by the trajectory collection vehicle repeatedly driving the same route, or the trajectory collection vehicle stopping or slowing down. The distance between two adjacent second trajectory points is determined, and if the distance between the two adjacent second trajectory points is equal to or less than the first preset threshold, any of the two adjacent second trajectory points can be deleted.

[0065] Interpolation is performed in areas where the density of trajectory points is too low, such as areas where the trajectory collection vehicle does not form a closed loop when collecting trajectory points, and areas where the density of trajectory points at important intersections and information points is too low, and the coordinates of the points obtained by interpolation conform to the coordinate latitude and longitude system established for the entire trajectory points and the accuracy requirements.

[0066] The interpolation methods include linear interpolation, curved interpolation and irregular interpolation.

[0067] Linear interpolation means performing equal interpolation on a straight line consisting of the original locus points at both ends.

[0068] Curve interpolation means that a smooth drawing is performed according to the curve of the road trace, and the drawn curve is divided equally to perform interpolation.

[0069] Irregular interpolation means that the interpolation is done manually according to the actual road trajectory.

[0070] In this embodiment, the second trajectory points with too high trajectory point density are deleted, and the areas with too low trajectory point density are interpolated, thereby improving the continuity, standardity and completeness of the logical road trajectory.

[0071] Optionally, step 104 specifically includes: Obtaining vehicle location information; determining a target locus road section from the N locus road sections, the target locus road section being a locus road section having a shortest projection distance to the position information among the N locus road sections; determining a target trajectory point within the target trajectory road segment that corresponds to the location information; obtaining first display information corresponding to the target trajectory point from the trajectory display information; and displaying the target trajectory points on the electronic map based on the first display information.

[0072] In this embodiment, the vehicle location information may be the vehicle's real-time location information, i.e., the location information reported by the vehicle in real time.

[0073] The vehicle trajectory can be statically offset-corrected based on the vehicle position information, and the vehicle trajectory can be dynamically offset-corrected based on the vehicle position information. Specifically, whether the offset correction is static or dynamic can be selected according to the actual situation.

[0074] Specifically, uploading of real-time location information may begin upon initial startup of the vehicle, or if the vehicle is traveling but previously uploaded trajectory data is abnormal, a static offset correction scheme may be used based on the current location information to determine the trajectory where the vehicle is located.

[0075] The specific steps of the static offset correction method are as follows:

[0076] Obtain real-time vehicle location information, As shown in Figures 7 and 8, the distance between the position information and the projected vertical position of a straight line consisting of the start point and end point of N trajectory road sections, i.e., the projected distance, is traverse calculated, and the trajectory road section corresponding to the smallest distance becomes the target trajectory road section.

[0077] Correspondingly, as shown in Figures 7 and 8, the trajectory point matching with the projected vertical position in the target trajectory road section is the current static offset-corrected trajectory point of the vehicle, where the trajectory point matching with the projected vertical position in the target trajectory road section may be the trajectory point of the target trajectory road section that is closest to the projected vertical position.

[0078] In the static offset compensation process, for the processing manner in which the trajectory road section is non-linear, the trajectory road section can be divided into a plurality of sub-trajectory road sections according to a straight line, and the plurality of sub-trajectory road sections are all linear, and the calculation of the projection distance between the plurality of sub-trajectory road sections and the vehicle position information can be performed instead of the trajectory road section. If it is determined that the smallest distance corresponds to the sub-trajectory road section of the trajectory road section, the nearest target trajectory point can be calculated from the real-time position of the vehicle in the sub-trajectory road section by traversing or bisection.

[0079] In a special case, there may be two trajectory road sections corresponding to the minimum distance, that is, when the distance between the real-time position of the vehicle and the projected vertical position of both trajectory road sections in the N trajectory road sections, i.e., the projected distance, is equal, the static offset correction fails, and the static offset correction is performed by waiting for the vehicle to report the next coordinate position until the static offset correction is successful.

[0080] In addition, if the distance between the real-time position of the vehicle and the target trajectory point obtained by the offset correction calculation is larger than the vehicle positioning error range, it can be determined that the vehicle is not located on the first road trajectory, and the vehicle trajectory is not offset-corrected using the N trajectory road sections. For example, if the vehicle positioning error range is 10 m but the distance between the real-time position of the vehicle and the target trajectory point obtained by the offset correction calculation is 1 km, it can be determined that the vehicle is not located on the first road trajectory, and in this case, the vehicle trajectory is not offset-corrected using the N trajectory road sections.

[0081] If the static offset correction is successful, first display information corresponding to the target trajectory point can be obtained from the trajectory display information, and the target trajectory point can be displayed on the electronic map based on the first display information.

[0082] Thereafter, the vehicle trajectory can be offset corrected by a dynamic offset correction method, which means a method of performing offset correction based on the real-time driving direction and speed of the vehicle using the offset correction result obtained previously.

[0083] The specific steps of the dynamic offset correction method are as follows:

[0084] Obtain the offset-corrected trajectory point and the vehicle position information for the front of the vehicle, Based on the vehicle's driving direction, driving speed and the connection relationship between the trajectory road sections, a trajectory tracking judgment is made, specifically, if the vehicle's driving distance is still within the trajectory road section according to the speed and interval time, the target trajectory point after offset correction of the vehicle can be determined according to the projected vertical position.

[0085] If the vehicle's travel distance may exceed the trajectory road section as determined according to the speed and interval time, a trajectory road section in which the vehicle may exist within the N trajectory road sections is determined according to the connection relationship between the trajectory road sections, a projected vertical position is determined on the trajectory road section in which the vehicle may exist, a target trajectory road section is determined on the trajectory road section in which the vehicle may exist, and an offset-corrected target trajectory point of the vehicle within the target trajectory road section is determined.

[0086] If the distance between the real-time position of the vehicle and the target trajectory point obtained by the offset correction calculation is larger than the vehicle positioning error range, it can be determined that the vehicle is not located on the first road trajectory, and the vehicle trajectory will not be offset corrected using the N trajectory road sections. In this case, the vehicle trajectory can be offset corrected again using the static offset correction method based on the next position information reported by the vehicle, or if it is determined that the distance between the real-time position of the vehicle and the target trajectory point obtained by the offset correction calculation is also larger than the vehicle positioning error range based on any of a plurality of consecutive position information reported by the vehicle, the vehicle trajectory can be offset corrected again using the static offset correction method.

[0087] In this embodiment, the vehicle position is usually matched with a locus point on the locus road section, and if the matching is successful, the locus point on the locus road section is displayed instead of the position reported by the vehicle. Since the locus point has already undergone road matching operation on the electronic map, the display position of the vehicle has already completed the offset correction operation, which can achieve a relatively good display effect.

[0088] Optionally, before displaying the target trajectory points on the electronic map based on the first display information, the method further comprises: Obtaining a display point set of the N trajectory road sections, the display point set including K first trajectory points for displaying each trajectory road section among the N trajectory road sections, where K is a positive integer equal to or smaller than M; obtaining second display information for each first locus point of the display point set from the locus display information; and displaying each of the first locus points in the display point set on the electronic map based on the second display information.

[0089] In this embodiment, the trajectory points have two uses when displayed on the electronic map, one is to mark the location, and the other is to display the trajectory. However, not all trajectory points have location display value, and not all trajectory points have the same trajectory display weight. Therefore, the trajectory points having location display and trajectory display value can be selected from the plurality of first trajectory points as a display point set, and the display point set has a significantly reduced amount of data compared with the trajectory point set in the first road trajectory, so that when the first road trajectory is displayed on the electronic map, important information display is not lost, and at the same time, the display efficiency is significantly improved, and a good balance between display efficiency and effect is achieved.

[0090] Specifically, it is possible to hold trajectory points located at the start point, end point and midpoint of every trajectory road section, and to hold information points in every trajectory road section and trajectory points 10 meters before and after the information points.

[0091] The trajectory points in the N trajectory road sections are thinned out, and there are many ways of thinning out, which can be selected according to the specific line characteristics. For example, according to the angle formed between three consecutive trajectory points, it is judged whether the trajectory points are included in the display point set, and if the angle is larger than a certain threshold, it is retained, and if the angle is smaller than a certain threshold for a long time, but the line length is accumulated to be more than 20 meters, one trajectory point is retained and included in the display point set. Here, the threshold can be adjusted according to the line characteristics.

[0092] All the retained trajectory points are combined into a display point set, which is used as a representation of the first road trajectory when displayed on the electronic map.

[0093] In this embodiment, after grouping the trajectory points of the vehicle position by logical judgment and the trajectory points of the trajectory display, the trajectory points in the display point set are used to display the first road trajectory according to the electronic map, and all the trajectory points in the first road trajectory are used to make logical judgment according to the real-time position of the vehicle. When displaying the real-time position and trajectory of the vehicle, only by using the target trajectory points corresponding to the vehicle position after offset correction in combination with the display point set, good display effect and efficiency can be achieved. In this way, the efficiency and effect of tracking and displaying the vehicle trajectory can be optimally balanced.

[0094] 9 shows a flow chart of a specific example of a vehicle trajectory offset correction method according to an embodiment of the present disclosure. As shown in FIG. 9, the trajectory collection vehicle collects road trajectories, performs road matching on the collected road trajectories (i.e., hardens the road trajectories and electronic maps), performs noise reduction and cleaning on the road trajectories (i.e., structures and logicizes the road trajectories), thins out the road trajectories, that is, groups the trajectory points to obtain a display point set, and then offset corrects the vehicle trajectory, specifically, offset corrects the vehicle trajectory according to the real-time position of the vehicle and the structured information of the road trajectory, where the real-time position of the vehicle can be the position information reported by the monitored vehicle in real time, and finally displays the target trajectory points after offset correction and the trajectory points in the display point set on the electronic map according to the display information of the trajectory points.

[0095] In addition, in the entire process, processes such as road matching, noise reduction, cleaning and thinning are completed in the pre-processing stage. In this way, the calculation pressure is almost completed in the pre-stage, and the pressure of offset correcting the vehicle trajectory based on the real-time position of the vehicle when reporting the real-time position information of the vehicle can be greatly reduced.

[0096] That is, all the calculations that can be pre-placed for stable elements are pre-placed, and the discrete algorithm is converted into a logical algorithm, so that the efficiency from algorithm calculation to display is greatly improved, the real-time calculation pressure is reduced, and the efficiency is increased, so that it can support more vehicle monitoring scales. And by pre-processing the display points and logical points, the loosely coupled (or loosely coupled) separation of the display logic and the positioning logic is realized, and the optimal state of the display effect is achieved.

[0097] Hereinafter, a vehicle trajectory offset correction device according to an embodiment of the present disclosure will be described.

[0098] A structural schematic diagram of a vehicle trajectory offset correction device according to an embodiment of the present disclosure is shown in Figure 10. As shown in Figure 10, the vehicle trajectory offset correction device 1000 includes a first acquisition module 1001, a second acquisition module 1002, a division module 1003 and a vehicle trajectory offset correction module 1004.

[0099] The first acquisition module 1001 is configured to acquire a first road trajectory including a plurality of first trajectory points; The second acquisition module 1002 is configured to acquire trajectory display information on the electronic map of the first road trajectory, the trajectory display information including position information of the first trajectory points and the road on the electronic map matching; The division module 1003 is configured to divide the first road locus into N locus road segments based on a road structure of the first road locus, each locus road segment including M consecutive first locus points, each locus road segment having a unique route direction, the route direction being a route direction from a first first locus point to a last first locus point in a locus road segment, N being a positive integer, and M being an integer greater than 1; The vehicle trajectory offset correction module 1004 is configured to offset correct the vehicle trajectory on the electronic map according to the N trajectory road segments and the trajectory display information.

[0100] Optionally, the first acquisition module 1001: a first acquisition unit configured to acquire a second road trajectory including a plurality of second trajectory points; a correction unit configured to correct the plurality of second locus points based on a distance between two adjacent second locus points among the plurality of second locus points to obtain the first road locus; The distance between adjacent first locus points in the first road locus is greater than a first preset threshold and less than a second preset threshold.

[0101] Optionally, the modification unit is configured to modify the plurality of second locus points according to a preset rule based on a distance between two adjacent second locus points among the plurality of second locus points to obtain the first road locus; Here, the preset rule is: When a distance between two adjacent second trajectory points is equal to or less than the first preset threshold, deleting one of the two adjacent second trajectory points; When a distance between two adjacent second trajectory points is equal to or greater than the second preset threshold, performing an interpolation between the two adjacent second trajectory points; and performing an interpolation between two adjacent second trajectory points if the two adjacent second trajectory points do not form a closed loop corresponding to a road in the target road network.

[0102] Optionally, the vehicle trajectory offset correction module 1004: A second acquisition unit configured to acquire location information of the vehicle; A first determination unit configured to determine a target locus road section from the N locus road sections, the target locus road section being a locus road section having a shortest projection distance to the position information among the N locus road sections; a second determining unit configured to determine a target trajectory point corresponding to the position information within the target trajectory road section; a third obtaining unit configured to obtain first display information corresponding to the target trajectory point from the trajectory display information; and a vehicle position display unit configured to display the target trajectory points on the electronic map based on the first display information.

[0103] Optionally, the apparatus further comprises: a third acquisition module configured to acquire a display point set of the N trajectory road sections, the display point set including K first trajectory points for displaying each trajectory road section among the N trajectory road sections, where K is a positive integer equal to or smaller than M; a fourth obtaining module configured to obtain second display information of each first trajectory point of the set of display points from the trajectory display information; and a route locus display module configured to display each first locus point in the display point set on the electronic map based on the second display information.

[0104] The vehicle trajectory offset correction apparatus 1000 can realize each process realized in the above vehicle trajectory offset correction method embodiment and achieve the same technical effects, and therefore, to avoid duplication, the description will be omitted here.

[0105] Hereinafter, an electronic device according to an embodiment of the present disclosure will be described.

[0106] A structural schematic diagram of an electronic device according to an embodiment of the present disclosure is shown in Fig. 11. As shown in Fig. 11, an electronic device 1100 includes a processor 1101, a memory 1102, a user interface 1103 and a bus interface 1104.

[0107] The processor 1101 reads a program in the memory 1102, obtaining a first road locus including a plurality of first locus points; Acquiring trajectory display information on an electronic map of the first road trajectory, the trajectory display information including position information where the plurality of first trajectory points match with roads on the electronic map; Dividing the first road locus into N locus road segments based on a road structure of the first road locus, each locus road segment including M consecutive first locus points, each locus road segment having a unique route direction, the route direction being a route direction from a first first locus point to a last first locus point in a locus road segment, N being a positive integer, and M being an integer greater than 1; and performing offset correction of the vehicle trajectory on the electronic map based on the N trajectory road sections and the trajectory display information.

[0108] In Fig. 11, the bus architecture may include any number of interconnected buses and bridges to which various circuits, specifically one or more processors, represented by processor 1101, and memory, represented by memory 1102, are connected. The bus architecture may further couple various other circuits, such as peripherals, regulators, and power management circuits, all of which are well known to those skilled in the art and will not be described further herein. The bus interface 1104 provides an interface. For different user devices, the user interface 1103 may further be an interface that can be externalized / internalized to the required device, and the connected devices include, but are not limited to, a keypad, a display, a speaker, a microphone, a joystick, etc.

[0109] The processor 1101 is responsible for managing the bus architecture and general processing, and the memory 1102 may store data used by the processor 1101 when performing operations.

[0110] Optionally, the processor 1101 may further obtaining a second road locus including a plurality of second locus points; and modifying the plurality of second locus points based on a distance between two adjacent second locus points among the plurality of second locus points to obtain the first road locus; The distance between adjacent first locus points in the first road locus is greater than a first preset threshold and less than a second preset threshold.

[0111] Optionally, the processor 1101 may further configured to modify the plurality of second locus points according to a preset rule based on a distance between two adjacent second locus points among the plurality of second locus points to obtain the first road locus; Here, the preset rule is: When a distance between two adjacent second trajectory points is equal to or less than the first preset threshold, deleting one of the two adjacent second trajectory points; When a distance between two adjacent second trajectory points is equal to or greater than the second preset threshold, performing an interpolation between the two adjacent second trajectory points; and performing an interpolation between two adjacent second trajectory points if the two adjacent second trajectory points do not form a closed loop corresponding to a road in the target road network.

[0112] Optionally, the processor 1101 may further Obtaining vehicle location information; determining a target locus road section from the N locus road sections, the target locus road section being a locus road section having a shortest projection distance to the position information among the N locus road sections; determining a target trajectory point within the target trajectory road segment that corresponds to the location information; obtaining first display information corresponding to the target trajectory point from the trajectory display information; displaying the target trajectory points on the electronic map based on the first display information.

[0113] Optionally, the processor 1101 may further Obtaining a display point set of the N trajectory road sections, the display point set including K first trajectory points for displaying each trajectory road section among the N trajectory road sections, where K is a positive integer equal to or smaller than M; obtaining second display information for each first locus point of the display point set from the locus display information; and displaying each first locus point in the display point set on the electronic map based on the second display information.

[0114] Preferably, the embodiment of the present disclosure further provides an electronic device, which includes a processor 1101, a memory 1102, and a computer program stored in the memory 1102 and executable by the processor 1101, and when the computer program is executed by the processor 1101, each process of the above-mentioned vehicle trajectory offset correction method embodiment can be realized and the same technical effects can be achieved, and in order to avoid duplication, the description will be omitted here.

[0115] The embodiment of the present disclosure further provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, each process of the above vehicle trajectory offset correction method embodiment can be realized and the same technical effect can be achieved, and in order to avoid duplication, the description will be omitted here. Here, the computer-readable storage medium may be, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, an optical disk, etc.

[0116] Those skilled in the art can recognize that each example unit and algorithm step described in connection with the embodiments disclosed herein can be realized in electronic hardware, or a combination of computer software and electronic hardware. These functions are executed in hardware or software according to the specific application and design constraints of the technical solution. Experts can use different methods for each specific application to realize the described functions, and this realization is not considered to be beyond the scope of the present disclosure.

[0117] It may be obvious to those skilled in the art that the specific operation processes of the above-mentioned systems, devices and units may refer to the corresponding processes in the above-mentioned method embodiments for convenient and concise description, and will not be further described here.

[0118] In the embodiments provided herein, it should be understood that the disclosed system and method may be realized in other ways. For example, the above-described system embodiments are merely exemplary, and the division of units is merely a division of logical functions, and in actual implementation, there may be other division methods, such as multiple units or components may be combined or integrated into another system, or some features may be ignored or not implemented. In other respects, the couplings or direct couplings or communication connections between each other shown or discussed may be indirect couplings or communication connections through some interfaces, devices or units, and may be electrical, mechanical, or other forms.

[0119] The units described as separation means may or may not be physically separated, and the components shown as units may not be physical units, i.e., they may be located in one place or distributed among multiple network elements. Some or all of the units may be selected according to actual needs to achieve the objectives of the embodiments of the present disclosure.

[0120] In addition, each functional unit in each embodiment of the present disclosure may be integrated into a single processing unit, each unit may exist physically alone, or two or more units may be integrated into a single unit.

[0121] When the function is realized as 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 proposal of the present disclosure can be essentially embodied in the form of a software product stored in a storage medium, or a part of the technical proposal can be embodied in the form of a software product stored in a storage medium, and includes some instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present specification. The aforementioned storage medium includes various media that can store program code, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

[0122] The above is merely a specific embodiment of the present invention, and the scope of protection of the present invention is not limited thereto, and any person skilled in the art can easily think of modifications or replacements within the technical scope disclosed in the present invention, which should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be in accordance with the claims. [Explanation of symbols]

[0123] 201 known vehicle operated roads 202 trajectory points 301 1st road trajectory 302 Road network 401 1st road trajectory 402 Road network 1000 Vehicle trajectory offset correction device 1001 First Acquisition Module 1002 Second Acquisition Module 1003 Split Module 1004 Vehicle Trajectory Offset Correction Module 1100 Electronic equipment 1101 Processor 1102 Memory 1103 User Interface 1104 Bus Interface

Claims

1. A vehicle trajectory offset correction method executed by an electronic device, comprising: obtaining a first road locus including a plurality of first locus points; Acquiring trajectory display information on an electronic map of the first road trajectory, the trajectory display information including position information where the plurality of first trajectory points match with roads on the electronic map; Dividing the first road locus into N locus road segments based on a road structure of the first road locus, each locus road segment including M consecutive first locus points, each locus road segment having a unique route direction, the route direction being a route direction from a first first locus point to a last first locus point in the locus road segment, N being a positive integer, and M being an integer greater than 1; and offset correcting the vehicle trajectory on the electronic map based on the N trajectory road segments and the trajectory display information.

2. Obtaining the first road locus obtaining a second road locus including a plurality of second locus points; and modifying the second locus points based on a distance between two adjacent second locus points among the second locus points to obtain the first road locus; a distance between adjacent first trajectory points in the first road trajectory is greater than a first preset threshold and less than a second preset threshold; The method of claim 1.

3. The step of correcting the plurality of second locus points based on a distance between two adjacent second locus points among the plurality of second locus points to obtain the first road locus includes: and modifying the plurality of second locus points according to a preset rule based on a distance between two adjacent second locus points among the plurality of second locus points to obtain the first road locus; Here, the preset rule is: When a distance between two adjacent second trajectory points is equal to or less than the first preset threshold, deleting one of the two adjacent second trajectory points; When a distance between two adjacent second trajectory points is equal to or greater than the second preset threshold, performing an interpolation between the two adjacent second trajectory points; performing an interpolation between two adjacent second trajectory points if the two adjacent second trajectory points do not form a closed loop corresponding to a road in the target road network. The method of claim 2.

4. The offset correction of the vehicle trajectory on the electronic map based on the N trajectory road sections and the trajectory display information is Obtaining vehicle location information; determining a target locus road section from the N locus road sections, the target locus road section being a locus road section having a shortest projection distance to the position information among the N locus road sections; determining a target trajectory point within the target trajectory road segment that corresponds to the location information; obtaining first display information corresponding to the target trajectory point from the trajectory display information; displaying the target trajectory points on the electronic map based on the first display information. The method of claim 1.

5. Before displaying the target trajectory points on the electronic map based on the first display information, the method further comprises: Obtaining a display point set of the N trajectory road sections, the display point set including K first trajectory points for displaying each trajectory road section among the N trajectory road sections, where K is a positive integer equal to or smaller than M; obtaining second display information for each first locus point of the display point set from the locus display information; and displaying each of the first locus points in the display point set on the electronic map based on the second display information. The method according to claim 4.

6. A vehicle trajectory offset correction device, a first acquisition module configured to acquire a first road trajectory including a plurality of first trajectory points; A second acquisition module configured to acquire trajectory display information on an electronic map of the first road trajectory, the trajectory display information including position information where the first trajectory points match with roads on the electronic map; a segmentation module configured to segment the first road locus into N locus road segments based on a road structure of the first road locus, each locus road segment including M consecutive first locus points, each locus road segment having a unique route direction, the route direction being a route direction from a first first locus point to a last first locus point in a locus road segment, N being a positive integer, and M being an integer greater than 1; a vehicle trajectory offset correction module configured to offset correct a vehicle trajectory on the electronic map based on the N trajectory road segments and the trajectory display information.

7. The first acquisition module is a first acquisition unit configured to acquire a second road locus including a plurality of second locus points; a correction unit configured to correct the plurality of second locus points based on a distance between two adjacent second locus points among the plurality of second locus points to obtain the first road locus; a distance between adjacent first trajectory points in the first road trajectory is greater than a first preset threshold and less than a second preset threshold; 7. The apparatus of claim 6.

8. The modification unit is configured to modify the plurality of second locus points according to a preset rule based on a distance between two adjacent second locus points among the plurality of second locus points to obtain the first road locus; Here, the preset rule is: When a distance between two adjacent second trajectory points is equal to or less than the first preset threshold, deleting one of the two adjacent second trajectory points; When a distance between two adjacent second trajectory points is equal to or greater than the second preset threshold, performing an interpolation between the two adjacent second trajectory points; performing an interpolation between two adjacent second trajectory points if the two adjacent second trajectory points do not form a closed loop corresponding to a road in the target road network.

8. The apparatus of claim 7.

9. The vehicle trajectory offset correction module includes: A second acquisition unit configured to acquire vehicle location information; a first determination unit configured to determine a target locus road section from the N locus road sections, the target locus road section being a locus road section having a shortest projection distance to the position information among the N locus road sections; a second determining unit configured to determine a target trajectory point corresponding to the position information within the target trajectory road section; a third acquisition unit configured to acquire first display information corresponding to the target trajectory point from the trajectory display information; a vehicle position display unit configured to display the target trajectory points on the electronic map based on the first display information.

7. The apparatus of claim 6.

10. The apparatus further comprises: a third acquisition module configured to acquire a display point set of the N trajectory road sections, the display point set including K first trajectory points for displaying each trajectory road section among the N trajectory road sections, where K is a positive integer equal to or smaller than M; a fourth acquisition module configured to acquire second display information for each first trajectory point of the set of display points from the trajectory display information; and a route trajectory display module configured to display each of the first trajectory points in the display point set on the electronic map based on the second display information.

10. The apparatus of claim 9.

11. An electronic device, The electronic device includes a processor, a memory, and a computer program stored in the memory and executable by the processor; An electronic device which performs the method according to any one of claims 1 to 5 when the computer program is executed by the processor.

12. 1. A computer-readable storage medium, comprising: A computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the method of any one of claims 1 to 5.

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