CN107941229B - Vehicle positioning method and vehicle positioning system - Google Patents
Vehicle positioning method and vehicle positioning system Download PDFInfo
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Abstract
本申请公开了一种车辆定位方法和车辆定位系统。所述车辆定位方法包括如下步骤：根据第一时刻的定位结果和地图数据，查找第一时刻的多条候选道路的候选道路信息；将所述第一时刻的定位结果和候选道路信息存储至缓存区，其中所述缓存区存储有第一时刻的前N个时刻的定位结果和候选道路信息；判断在第一时刻的定位是否满足预设的规则；当第一时刻的定位满足预设规则时，根据所述缓存区中的数据从所述候选道路中选择最优候选道路。
The present application discloses a vehicle positioning method and a vehicle positioning system. The vehicle positioning method includes the following steps: searching for candidate road information of a plurality of candidate roads at the first moment according to the positioning result and map data at the first moment; storing the positioning result and the candidate road information at the first moment in a cache area, wherein the cache area stores the positioning results and candidate road information of the first N moments before the first moment; judges whether the positioning at the first moment satisfies the preset rules; when the positioning at the first moment meets the preset rules , and select the optimal candidate road from the candidate roads according to the data in the buffer area.
Description
Technical Field
The present disclosure relates to the field of vehicle navigation, and in particular, to a vehicle positioning method and a vehicle positioning system.
Background
Nowadays, with the increase of vehicles and the increase of travel demands, people rely on vehicle navigation more and more strongly. Whether the navigation positioning is accurate or not has become the most important factor for people to select the vehicle navigation device.
The existing vehicle navigation system generally uses the following method for positioning: a vehicle positioning unit and a map matching unit are arranged in the vehicle-mounted navigation device; the vehicle positioning unit is used for positioning the position of the vehicle in real time and sending a positioning result to the map matching unit; the map matching unit performs similarity matching between the positioning result and the road in the map data, and displays the vehicle on the matched road. The matching is usually determined according to the distance from the vehicle position (i.e. the positioning result) to the road and the difference between the traveling direction of the vehicle head and the road direction, and the positioning result is displayed on the map after the optimal matching road is selected according to the distance and the directions of the vehicle head and the road.
As can be seen from the above, in the existing map-based positioning method, the driving paths of the vehicles are matched to the roads in the map data, and the matching process is independent in time and space, that is, at each time point, the matching process is independent, and the matching at the previous time point is unrelated to the matching at the next time point. However, the vehicle actually moves on the road according to a certain rule, the existing independent matching process at each time point does not refer to the motion rule of the vehicle, the existing map matching technology is independent in time and space, the important characteristic of continuous change of the motion state of the vehicle is ignored, and the problems that the vehicle can jump and shift on the map, the matching of a small-angle bifurcation road is wrong for a long time and the like are caused.
Disclosure of Invention
In view of the above problems, the present invention aims to provide an on-board positioning method and an on-board positioning system to solve the problems of the prior art, such as vehicle jumping, deviation, and long-time matching error of a small-angle bifurcation road on a map.
In order to solve the above problem, an embodiment of the present application discloses a vehicle positioning method, including:
searching candidate road information of a plurality of candidate roads at the first moment according to the positioning result and the map data at the first moment;
storing the positioning result and the candidate road information at the first moment into a cache region, wherein the cache region stores the positioning results and the candidate road information at the first N moments of the first moment;
judging whether the positioning at the first moment meets a preset rule or not;
and when the positioning at the first moment meets a preset rule, selecting an optimal candidate road from the candidate roads according to the data in the cache region.
In order to solve the above problem, another embodiment of the present application discloses a vehicle positioning system, including:
the candidate road searching module is used for searching candidate road information of a plurality of candidate roads at the first moment according to the positioning result and the map data at the first moment;
the storage module is used for storing the positioning result and the candidate road information at the first moment into a cache region, wherein the cache region stores the positioning result and the candidate road information at the previous N moments;
the judging module is used for judging whether the positioning at the first moment meets a preset rule or not;
and the road selection module is used for selecting the optimal candidate road from the candidate roads according to the data in the cache region when the positioning at the first moment meets a preset rule.
An embodiment of the present application further discloses an intelligent device, including:
one or more processors;
a memory; and
one or more modules stored in the memory and configured to be executed by the one or more processors, wherein the one or more modules are configured to perform the above-described method.
Another embodiment of the present application further discloses an intelligent device, which includes an input device, a processor, and an output device:
the input device is coupled to the processor and used for obtaining a positioning result at a first moment;
the processor is used for searching candidate road information of a plurality of candidate roads at the first moment according to the positioning result and the map data at the first moment; storing the positioning result and the candidate road information at the first moment into a cache region, wherein the cache region stores the positioning results and the candidate road information at the first N moments of the first moment; judging whether the positioning at the first moment meets a preset rule or not; when the positioning at the first moment meets a preset rule, selecting an optimal candidate road from the candidate roads according to the data in the cache region;
the output device is coupled to the processor for outputting the optimal candidate road.
Another embodiment of the present application further discloses an internet automobile, comprising a vehicle-mounted intelligent device, the vehicle-mounted intelligent device comprising a vehicle-mounted input device, a vehicle-mounted processor and a vehicle-mounted output device,
the vehicle-mounted input device is coupled to the vehicle-mounted processor and used for acquiring a positioning result at a first moment;
the vehicle-mounted processor is used for searching candidate road information of a plurality of candidate roads at the first moment according to the positioning result and the map data at the first moment; storing the positioning result and the candidate road information at the first moment into a cache region, wherein the cache region stores the positioning results and the candidate road information at the first N moments of the first moment; judging whether the positioning at the first moment meets a preset rule or not; when the positioning at the first moment meets a preset rule, selecting an optimal candidate road from the candidate roads according to the data in the cache region;
the on-board output device is coupled to the on-board processor for outputting the optimal candidate road.
Another embodiment of the present application further discloses a vehicle-mounted internet operating system, including:
the acquisition unit is used for controlling the vehicle-mounted input equipment to acquire a positioning result at a first moment;
the processing unit is used for controlling the vehicle-mounted processor to search candidate road information of a plurality of candidate roads at the first moment according to the positioning result at the first moment and the map data; storing the positioning result and the candidate road information at the first moment into a cache region, wherein the cache region stores the positioning results and the candidate road information at the first N moments of the first moment; judging whether the positioning at the first moment meets a preset rule or not; when the positioning at the first moment meets a preset rule, selecting an optimal candidate road from the candidate roads according to the data in the cache region;
and the output unit is used for controlling the vehicle-mounted output equipment to output the optimal candidate road.
In summary, the embodiments of the present application have the following advantages:
in the vehicle-mounted positioning method and the vehicle-mounted positioning system provided by the embodiment of the invention, in order to improve the accuracy of map matching, a buffer interval is added by applying the important characteristic of continuous change of a vehicle in a motion state, for storing the positioning results of the latest N moments, namely candidate road information, wherein the candidate road information also stores other matching candidate roads of the historical moments besides the optimal path which can contain the historical moment matching, the vehicle-mounted navigation system can judge the motion state of the vehicle according to the information, avoids the possibility of jumping, deviation and long-time matching error of small-angle bifurcation roads of the vehicle on a map, provides more accurate map matching of the vehicle, prevents the phenomena of positioning drift, jumping and the like, the method has the advantages of sensitive identification of the small-angle bifurcation road, more accurate positioning and powerful support for matching error detection and correct switching of the matched road.
Drawings
Fig. 1 is a schematic diagram of an application scenario according to an embodiment of the present invention.
Fig. 2 is a flowchart showing a vehicle positioning method according to a first embodiment of the present invention.
Fig. 3 is a flowchart showing a vehicle positioning method according to a second embodiment of the present invention.
Fig. 4 is a block diagram showing a vehicle positioning system according to a third embodiment of the present invention.
Fig. 5 is a block diagram showing a vehicle positioning system according to a fourth embodiment of the present invention.
Figure 6 is a schematic hardware structure diagram of a computing device according to an embodiment of the present application,
fig. 7 is a schematic hardware structure diagram of a computing device according to another embodiment of the present application.
Fig. 8 is a schematic diagram of the in-vehicle internet operation system of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments that can be derived from the embodiments given herein by a person of ordinary skill in the art are intended to be within the scope of the present disclosure.
One of the core ideas of the application is to provide a positioning method, in order to improve the accuracy of map matching, a buffer interval is added in a map matching unit and used for storing matching results and positioning results at the latest 3-5 moments, and the matching results not only include an optimal path matched at the historical moment, but also store other matching candidate roads at the historical moment, so that a powerful support is provided for motion state judgment, matching error detection and correct switching of matching roads.
Fig. 1 is a schematic diagram of an application scenario according to an embodiment of the present invention. As shown in fig. 1, for the small-angle Y-branch road in fig. 1, if the vehicle travels along the road C, and reaches the branch intersection between the road a and the road B, and the vehicle selects the road B, the following situations are encountered by the vehicle navigation system for the existing map matching: at four moments from t1 to t4, the map matching units of the vehicle navigation system match the position of the vehicle to the road A due to the small difference of the directions of the two roads A and B; when the time t5 is reached, although the matching point is closer to the road B, the map matching unit will match the position of the vehicle to the road a because the distance from the road a and the driving direction of the vehicle given by the vehicle positioning unit of the car navigation system are not much different from the direction of the road a. So that the map matching unit can switch the vehicle position to the road B only if a long distance is required, i.e. the distance between the locating point and the road a or the difference between the driving direction and the road a is large enough. In the invention, a cache space is arranged in a map matching unit of the vehicle-mounted navigation system, and the positioning result and the candidate road information from t1 to t5 are both stored in the cache space to be used as the reference for subsequent positioning matching. At the time t5, since the weights of the road A and the road B are relatively close and are at the bifurcation junction, the cache judgment is started, and the trend that the vehicle turns right can be judged according to the stored motion states at the previous times, so that the correct matching road, namely the road B, can be quickly switched to at the time t 5.
The solution according to the invention is described below by means of a number of examples.
First embodiment
Fig. 2 is a flowchart showing a vehicle positioning method according to a first embodiment of the present invention. As shown in fig. 2, the method of the embodiment of the present invention includes the following steps:
s201, searching candidate road information of a plurality of candidate roads at the first moment according to the positioning result and the map data at the first moment;
a vehicle navigation system generally includes a vehicle positioning unit and a map matching unit, where the vehicle positioning unit is used to obtain a vehicle position by using a GPS or a network, that is, to receive and process signals transmitted by a plurality of satellites, and obtain distances from the satellites to a user receiver, so as to determine information such as longitude and latitude, altitude, speed, time, and the like of the vehicle, that is, a positioning result; the map matching unit is used for matching the similarity of the positioning result obtained by the vehicle positioning unit and the road in the map data which is installed in advance. That is, when the vehicle positioning unit obtains the positioning result, the vehicle positioning unit sends the positioning data to the map matching unit, and the map matching unit selects the position on the map closest to the positioning result, such as a certain road or several roads, through a specific algorithm.
In the process of map matching, the map matching unit matches a plurality of closest candidate roads on the map data according to the positioning result. For example, at time t3 in fig. 1, when the vehicle locating unit obtains the locating result, it starts to find the road where the vehicle may be. The location information where the vehicle is located is found to match both the road a and the road B provided in the map data installed in advance, and therefore the vehicle may be on the road a or the road B. The map matching unit thus selects the road a and the road B from the plurality of roads as candidate roads, and saves the candidate roads a and B.
S202, storing the positioning result and the candidate road information at the first moment into a cache region, wherein the cache region stores the positioning result and the candidate road information at the first N moments of the first moment;
in this step, a buffer may be provided in the car navigation system for storing the positioning results and the candidate road information at the previous N times therein. This buffer may be provided in the map matching unit for ease of calling, or any other location in the vehicle navigation system where data can be stored. In the buffer, the data may be stored as in table 1, i.e., at each of the first N times, the stored data includes: the time positioning result, such as longitude, latitude, heading of the vehicle head, and the like; candidate road information at the time, such as matching weight (i.e. matching reliability) of the candidate road a at the time, projection distance between the vehicle positioning result and the road, and included angle between the vehicle direction and the road direction; matching weight of the candidate road B, projection distance between a vehicle positioning result and the road, and an included angle between a vehicle direction and the road direction; matching weight of the candidate road C, projection distance between the vehicle positioning result and the road, and included angle between the vehicle direction and the road direction.
In addition, the matching weight of the road can be calculated by using a specific formula according to parameters such as the projection distance between the vehicle positioning result and the road, the included angle between the vehicle head and the road and the like, and the method belongs to the prior art and is not repeated herein.
It should be noted that the "first N times" herein are preferably N consecutive times before the first time, for example, when the current time is t, the first N consecutive times may be a time sequence of t-0.5 seconds, t-1 seconds, t-1.5 seconds, t-2 seconds. The invention is not so limited. In addition, the time intervals between the first N consecutive time instants are preferably the same, but the invention is not limited thereto.
TABLE 1
The number N of the time points may be set by a developer, and is not particularly limited as long as the change in the motion state of the vehicle can be reflected by data corresponding to the time points. In some embodiments, N may be, for example, 3, 4, 5, etc. For example, when the buffer area stores 4 times tN-4、tN-3、tN-2、tN-1When the current time t is obtainedNAfter the positioning result and the candidate road information are obtained, the data in the cache area are refreshed, and the time t is deletedN-4So that the currently stored data is tN-3、tN-2、tN-1、tNData of the time of day.
S203, judging whether the positioning at the first moment meets a preset rule or not;
in this step, it can be determined whether the current location meets the preset rule according to the current road position and the change of the vehicle motion state.
For example, in fig. 1, for the small-angle Y-shaped bifurcation road, at time t5, the vehicle navigation system calculates that the weight of the candidate road a is closer to the weight of the candidate road B, and meanwhile, it can be known that the vehicle is at the bifurcation intersection according to the map data, and at this time, it is difficult for the vehicle navigation system to determine which road the vehicle is actually located on, so that it is determined that the current positioning state satisfies the preset rule, and then a subsequent further determination should be performed.
The preset rule may be considered as follows: the difference between the weights of the road with the highest weight and the road with the next highest weight among the plurality of candidate roads at the first moment is smaller than a preset value. In which case a subsequent further decision should be made.
For example, in fig. 1, if the weight difference between the candidate road a and the candidate road B is small, for example, the weight difference between the larger one of the weight a and the weight B and the smaller one of the weight a and the weight B is within a preset range, it may be considered that the candidate road a or the candidate road B cannot be selected only by the weight, and then the cache determination mechanism may be activated to further determine.
In addition, if there are more than two candidate roads, for example, there are candidate road a, candidate road B and candidate road D, it may be determined whether the weight difference between the candidate road with the highest weight (for example, candidate road a) and the candidate road with the next highest weight (for example, candidate road B) is smaller than a preset value, and when the weight difference is within a preset range, it may be determined that candidate road a, candidate road B or candidate road C cannot be selected only by the weight, and then the cache determination mechanism may be activated to further determine.
S204, when the positioning at the first moment meets a preset rule, selecting an optimal candidate road from the candidate roads according to the data in the cache region.
When the determination result in step S203 is that the preset rule is satisfied, in this step, the motion trend of the vehicle may be determined by using the data in the buffer area, so as to determine the correct road where the vehicle is located at the first moment according to the motion trend.
The explanation is continued at time t5 in fig. 1. At this point, the data in the buffer is as shown in table 2 below:
TABLE 2
Wherein, with (t 5)Longitude (G)，t5Latitude，t5Orientation of) This positioning result is exemplified by t5Longitude (G)，t5LatitudeCalculating the longitude and latitude of the vehicle for the vehicle positioning unit based on the received plurality of GPS satellite signals, t5Orientation ofThe direction of the vehicle calculated by the vehicle positioning unit from the received GPS satellite signals may be expressed, for example, as an angle to the true north.
Taking the candidate road information of (road a, weight 5, distance 5, angle 5) as an example, the distance 5 may be the shortest distance between the vehicle and the road a, and the angle 5 may be the included angle between the vehicle direction and the road a direction.
From the above information, when the weight difference of the road a and the road B as calculated at the time t5 is not large, the in-vehicle navigation system may determine whether the vehicle should match the candidate road a or the candidate road B, for example, according to:
1. judging through the change trend of the orientation of the vehicle head: from time t2 to time t5, the heading of the vehicle head is gradually approaching the direction toward road B and moving away from the direction toward road a, so that it can be judged that the vehicle has a tendency to move toward candidate road B, and therefore the position of the vehicle can be matched with candidate road B at time t 5;
2. judging through the change trend of the weights of the candidate road A and the candidate road B: from time t2 to time t5, the weight of the candidate road B gradually decreases, and the weight of the road a gradually increases, so that it can be judged that the vehicle has a tendency to move toward the candidate road B, and therefore the position of the vehicle can be matched with the candidate road B at time t 5;
3. judging through the variation trend of the distance between the vehicle and the candidate road A and the candidate road B: from time t2 to time t5, the distance from the vehicle to the road B gradually decreases, and the distance from the road a gradually increases, so that it can be judged that the vehicle has a tendency to move toward the candidate road B, and therefore the position of the vehicle can be matched with the candidate road B at time t 5;
4. judging by the trend of change of the angle between the vehicle and the candidate road a and the angle between the vehicle and the candidate road B: from the time t2 to the time t5, the angle of the vehicle with respect to the road B gradually decreases, and the angle with respect to the road a gradually increases, so that it can be judged that the vehicle has a tendency to move along the candidate road B, and therefore the position of the vehicle can be matched with the candidate road B at the time t 5.
As can be seen from the above description, the trend of the vehicle turning right can be determined according to the motion states at the first N times stored according to one or a combination of the above manners, so that the right matching road, i.e. the road B, can be quickly switched to at the time t 5.
In summary, in the vehicle-mounted positioning method according to the first embodiment of the present invention, in order to improve the accuracy of map matching, a buffer interval is added by applying the important characteristic of continuous change of the vehicle in the motion state, for storing the positioning results of the latest N moments, namely candidate road information, wherein the candidate road information also stores other matching candidate roads of the historical moments besides the optimal path which can contain the historical moment matching, the vehicle-mounted navigation system can judge the motion state of the vehicle according to the information, avoids the possibility of jumping, deviation and long-time matching error of small-angle bifurcation roads of the vehicle on a map, provides more accurate map matching of the vehicle, prevents the phenomena of positioning drift, jumping and the like, the method has the advantages of sensitive identification of the small-angle bifurcation road, more accurate positioning and powerful support for matching error detection and correct switching of the matched road.
Second embodiment
Fig. 3 is a flowchart showing a vehicle positioning method according to a second embodiment of the present invention. As shown in fig. 3, the method of the embodiment of the present invention includes the following steps:
s301, searching candidate road information at the first moment according to the positioning result and the map data at the first moment;
s302, writing the positioning result and the candidate road information at the first moment into a cache region, wherein the cache region stores the positioning results and the candidate road information at the first N moments of the first moment;
s303, judging whether the positioning at the first moment meets a preset rule or not;
in this step, it can be determined whether the positioning state at the current time meets a preset rule according to the current road position and the motion state change, such as: when the vehicle is currently positioned at a bifurcation intersection or near the intersection, the user takes the actions of turning, turning around and the like, and the motion state of the user does not accord with the actual road data (speed, driving direction and the like).
S304, when the positioning at the first moment meets a preset rule, selecting an optimal candidate road from the candidate roads according to the data in the cache region.
When the determination result in step S303 satisfies the preset rule, in this step, the movement trend of the vehicle may be determined for the data in the buffer area, so as to determine the correct road where the vehicle is located at the first moment according to the movement trend.
The steps S301, S302, and S304 are the same as or similar to the steps S201, S202, and S204 in the first embodiment, and are not repeated herein. The present embodiment focuses on the differences from the previous embodiment.
In step S303 of this embodiment, that is, whether the positioning at the first time meets a preset rule is determined, where the preset rule may be: when one or more of the following situations are met, a cache judgment mechanism needs to be started:
1. the vehicle is positioned near a bifurcation crossing (such as a Y-shaped bifurcation road, a multi-bifurcation road and the like);
in this case, when it is determined that there is a branch point in the vicinity by the map data on the map matching unit and it is determined that the vehicle is located in the vicinity of the branch point by the vehicle positioning unit, the in-vehicle navigation system can determine that the preset rule is satisfied and further determination is required. The small-angle branch point in fig. 1 is an application of a typical cache judgment mechanism started at the branch point.
2. The vehicle is near the intersection;
in this case, when the vehicle is determined to be located near an intersection such as a t-intersection, an intersection, or a five-way intersection by the map data on the map matching unit, and the vehicle is determined to be located near the intersection by the vehicle positioning unit, it is difficult for the respective-intersection-weight car navigation system to determine which intersection the vehicle intends to travel, and therefore it is possible to determine that the preset rule is satisfied and further determination is necessary.
3. The vehicle turns;
in this case, when the vehicle positioning unit detects that the vehicle is turning, but the vehicle-mounted navigation system does not determine the intention of driving after turning, or a plurality of roads close to each other are available for the vehicle to drive after turning, or the map matching unit cannot search the road corresponding to the turning behavior on the map data, it may be determined that the preset rule is satisfied, and further determination is required.
4. Turning around the vehicle;
in this case, when the vehicle positioning unit detects that the vehicle is turning around, but the vehicle-mounted navigation system does not determine the intention of driving after turning around, or a plurality of roads with a short distance after turning around are available for the vehicle to drive, it may be determined that the preset rule is satisfied and further determination is required.
5. The vehicle motion state (speed, direction of travel, etc.) does not match the actual road data.
In this step, when the vehicle locating unit detects that the motion state of the vehicle does not match the actual road data, for example, it is shown that the vehicle is running, but the map matching unit cannot find the road on the corresponding map data. In this case, it can be determined that the preset rule is satisfied, and further determination is required.
In summary, the vehicle navigation system may start the cache determination mechanism according to a combination of one or more of the above situations, so as to perform more accurate determination.
Optionally, in this embodiment, the vehicle positioning method further includes the following steps:
and S305, matching and displaying the vehicle position to the optimal candidate road.
After selecting the optimal candidate road from the candidate roads in step S304, the map matching unit may display the vehicle on the optimal candidate road corresponding to the map data in the present embodiment. For example, in fig. 1, after selecting the road B as the optimal candidate road, in this step, the map matching unit may display the position of the vehicle in the optimal candidate road on the map for the user to view in real time.
In summary, in the vehicle-mounted positioning method provided in the second embodiment of the present invention, in order to improve the accuracy of map matching, the important characteristic of continuous change of the vehicle in the motion state is applied, the buffer interval is increased, for storing the positioning results of the latest N moments, namely candidate road information, wherein the candidate road information also stores other matching candidate roads of the historical moments besides the optimal path which can contain the historical moment matching, the vehicle-mounted navigation system can judge the motion state of the vehicle according to the information, avoids the possibility of jumping, deviation and long-time matching error of small-angle bifurcation roads of the vehicle on a map, provides more accurate map matching of the vehicle, prevents the phenomena of positioning drift, jumping and the like, the method has the advantages of sensitive identification of the small-angle bifurcation road, more accurate positioning and powerful support for matching error detection and correct switching of the matched road.
Meanwhile, a specific method for judging whether a cache judging mechanism needs to be started is provided in the embodiment, and when one of a plurality of judging rules of a specific preset judging rule is met, the cache judging mechanism is started, so that the vehicle-mounted navigation system can judge the motion state of the vehicle according to the information, and the problems that the vehicle possibly jumps, deviates and long-time matching errors of small-angle bifurcation roads occur on a map are avoided.
Third embodiment
Fig. 4 is a block diagram showing a vehicle positioning system according to a third embodiment of the present invention. As shown in fig. 4, the vehicle positioning system according to the embodiment of the present invention includes a candidate road searching module 401, a storage module 402, a judgment module 403, and a road selection module 404.
The candidate road searching module 401 is configured to search candidate road information of a plurality of candidate roads at the first time according to the positioning result and the map data at the first time.
The positioning result is real-time positioning data provided by a vehicle positioning unit by using a GPS (global positioning system) based positioning method or a network based base station positioning method, and the map data is stored in a storage space in a vehicle positioning system in advance or in real time. The candidate road searching module 401 may belong to the map matching unit or may be independent of the map matching unit, and is configured to match several candidate roads closest to each other on the map data according to the positioning result. When the candidate road searching module 401 finds that the location information of the vehicle matches both the road a and the road B provided in the map data installed in advance, it may select the road a and the road B from the plurality of roads as candidate roads and save the candidate roads a and B.
The storage module 402 is configured to store the location result and the candidate road information at the first time into a cache region, where the cache region stores the location result and the candidate road information at the previous N times.
The vehicle navigation system may be provided with a buffer area, which may be provided in the map matching unit for convenient calling, or any other location in the vehicle navigation system where data can be stored. The storage module 402 may belong to the map matching unit described above, or may be independent of the map matching unit, and is configured to locate the results of the previous N times, such as longitude, latitude, heading of the vehicle head, and the like; the candidate road information at the time point, for example, the weight of the candidate road at the time point, the shortest distance between the vehicle and the road, the vehicle direction and the road direction angle, and the like are stored in the buffer.
The determining module 403 is configured to determine whether the positioning at the first time meets a preset rule.
The determining module 403 may determine whether to start the cache determining mechanism according to the current road position and the motion state change of the vehicle. The judging module 403 may belong to the map matching unit described above, or may be independent of the map matching unit. The current road position can be obtained according to the map data of the map matching unit, and the motion state of the vehicle can be obtained through the vehicle positioning unit. The preset rules are, for example: when the calculated weight difference of the candidate roads is smaller than a preset value, a cache judgment mechanism needs to be started.
The road selection module 404 is configured to select an optimal candidate road from the candidate roads according to the data in the cache region when the location at the first time meets a preset rule.
If the determination result of the determination module 403 is that the predetermined rule is satisfied, the road selection module 404 may determine the movement trend of the vehicle from the data in the buffer, so as to determine the correct road where the vehicle is located at the first time according to the movement trend. The road selection module 404 may belong to the map matching unit described above, or may be independent of the map matching unit.
In summary, in the vehicular positioning system according to the third embodiment of the present invention, in order to improve the accuracy of map matching, the important characteristic of continuous variation of the vehicle in the motion state is applied, the vehicle-mounted positioning system is additionally provided with a buffer interval for storing the positioning results of the latest N moments, namely candidate road information, wherein the candidate road information also stores other matching candidate roads of the historical moments besides the optimal path which can be matched with the historical moments, the vehicle-mounted navigation system can judge the motion state of the vehicle according to the information, avoids the possibility of jumping, deviation and long-time matching error of small-angle bifurcation roads of the vehicle on a map, provides more accurate map matching of the vehicle, prevents the phenomena of positioning drift, jumping and the like, the method has the advantages of sensitive identification of the small-angle bifurcation road, more accurate positioning and powerful support for matching error detection and correct switching of the matched road.
Fourth embodiment
Fig. 5 is a block diagram showing a vehicle positioning system according to a fourth embodiment of the present invention. As shown in fig. 5, the vehicle positioning system according to the embodiment of the present invention includes a candidate road searching module 501, a storage module 502, a determination module 503, and a determination module 503.
The candidate road searching module 501 is configured to search candidate road information of a plurality of candidate roads at the first time according to the positioning result and the map data at the first time.
The storage module 502 is configured to store the location result and the candidate road information at the first time into a cache region, where the cache region stores the location result and the candidate road information at the previous N times.
The determining module 503 is configured to determine whether the positioning at the first time meets a preset rule.
The road selection module 504 is configured to select an optimal candidate road from the candidate roads according to the data in the cache region when the location at the first time meets a preset rule.
The modules 501 to 504 are the same as or similar to the modules 401 to 404 in the previous embodiment, and are not described again here, and the difference between the present embodiment and the previous embodiment is focused on.
As described above, the determining module 503 is configured to determine whether the positioning at the first time meets a preset rule, in this embodiment, the preset rule may be, for example:
the difference between the weight of the candidate road with the highest weight and the weight of the candidate road with the second highest weight in the plurality of candidate roads is smaller than a preset value.
In this embodiment, the road selection module 504 may be configured to calculate a movement trend of the vehicle according to the updated data in the buffer, and select an optimal candidate road from the candidate roads according to the movement trend of the vehicle.
Optionally, the movement tendency of the vehicle comprises one or more of:
the trend of the orientation of the locomotive;
for example, in fig. 1, from time t2 to time t5, the vehicle is gradually approaching in the direction toward road B and moving away from road a, and therefore it is possible to determine the tendency of the vehicle to move toward candidate road B, and it is possible to determine that the position of the vehicle can be matched with candidate road B at time t5 from this tendency of change.
A trend of change in the weights of the plurality of candidate roads;
for example, in fig. 1, from time t2 to time t5, the weight of the candidate road B gradually decreases and the weight of the road a gradually increases, so that it is possible to determine the tendency of the vehicle to move toward the candidate road B, and it is possible to determine that the position of the vehicle can be matched with the candidate road B at time t5 from this tendency of change.
A trend of change in the distance of the vehicle from each candidate road;
for example, in fig. 1, from time t2 to time t5, the distance from the vehicle to the road B gradually decreases, and the distance from the road a gradually increases, so that it is possible to determine the tendency of the vehicle to move toward the candidate road B, and it is possible to determine that the position of the vehicle can be matched with the candidate road B at time t5 from this tendency of change.
The variation trend of the included angle between the vehicle and each candidate road;
for example, in fig. 1, from time t2 to time t5, the angle between the vehicle and the road B gradually decreases, and the angle between the vehicle and the road a gradually increases, so that it can be determined that the vehicle has a tendency to move along the candidate road B, and it can be determined that the position of the vehicle can be matched with the candidate road B at time t5 by this tendency of change.
In this embodiment, the preset rule includes one or more of the following:
when the distance between the positioning result of the vehicle and the branched intersection on the map data is less than a preset value, judging that a preset rule is met; the determining module 503 may include a first distance determining submodule 5031 for detecting whether the distance is smaller than a predetermined value. And when the value is less than the preset value, the preset rule is met.
When the distance between the positioning result of the vehicle and the intersection on the map data is less than a preset value, judging that a preset rule is met; the determining module 503 may include a second distance determining submodule 5032 for detecting whether the distance is smaller than a predetermined value. And when the value is less than the preset value, the preset rule is met.
When the vehicle is judged to turn according to the positioning result of the vehicle, judging that a preset rule is met; the determination module 503 may include a turn determination submodule 5033 for detecting whether the vehicle is turning. When it is detected that the vehicle is turning, a preset rule is satisfied.
When the vehicle is judged to turn around according to the positioning result of the vehicle, judging that a preset rule is met; the determining module 503 may include a u-turn determining sub-module 5034 for detecting whether the vehicle is turning around. When it is detected that the vehicle is turning around, the preset rule is satisfied.
And when the fact that the motion state of the vehicle does not accord with the map data is detected according to the positioning result of the vehicle, judging that a preset rule is required to be met. The determination module 503 may include a motion state determination submodule 5035 for detecting whether the vehicle motion state coincides with the map data. And when the fact that the motion state of the vehicle does not accord with the map data is detected, the preset rule is met.
In addition, optionally, the vehicle-mounted positioning system may further include a matching display module 505 for displaying the vehicle position matching to the optimal candidate road.
After the road selection module selects the optimal candidate road, in the present embodiment, the matching display module 505 may display the vehicle on the optimal candidate road corresponding to the map data. For example, in fig. 1, after selecting the road B as the optimal candidate road, the matching display module 505 may display the position of the vehicle in the optimal candidate road on the map for the user to view in real time. The matching display module 505 may belong to a map matching unit or exist independently of the map matching unit.
In summary, in the vehicle-mounted positioning system provided in the embodiment of the present invention, in order to improve the accuracy of map matching, the important characteristic of continuous change of the vehicle in the motion state is applied, a buffer area is added, for storing the positioning results of the latest N moments, namely candidate road information, wherein the candidate road information also stores other matching candidate roads of the historical moments besides the optimal path which can contain the historical moment matching, the vehicle-mounted navigation system can judge the motion state of the vehicle according to the information, avoids the possibility of jumping, deviation and long-time matching error of small-angle bifurcation roads of the vehicle on a map, provides more accurate map matching of the vehicle, prevents the phenomena of positioning drift, jumping and the like, the method has the advantages of sensitive identification of the small-angle bifurcation road, more accurate positioning and powerful support for matching error detection and correct switching of the matched road.
Meanwhile, a specific method for judging whether a cache judging mechanism needs to be started is provided in the embodiment, and when one of a plurality of judging rules of a specific preset judging rule is met, the cache judging mechanism is started, so that the vehicle-mounted navigation system can judge the motion state of the vehicle according to the information, and the problems that the vehicle possibly jumps, deviates and long-time matching errors of small-angle bifurcation roads occur on a map are avoided.
For the apparatus embodiment, since it is basically similar to the method embodiment, it is described relatively simply, and for the relevant points, refer to the partial description of the method embodiment.
The present application further provides a non-volatile readable storage medium, where one or more modules (programs) are stored in the storage medium, and when the one or more modules are applied to a terminal device, the one or more modules may cause the terminal device to execute instructions (instructions) of method steps in the present application.
Fig. 6 is a schematic diagram of a hardware structure of a computing device according to an embodiment of the present application, where the computing device includes a server and an intelligent terminal, and the intelligent terminal adopts various intelligent terminals described in the foregoing embodiments, including a device associated with a first user and a device associated with a second user. As shown in fig. 6, the computing device may include an input device 60, a processor 61, an output device 62, a memory 63, and at least one communication bus 64. The communication bus 64 is used to implement communication connections between the elements. The memory 63 may comprise a high-speed RAM memory, and may also include a non-volatile memory NVM, such as at least one disk memory, in which various programs may be stored in the memory 63 for performing various processing functions and implementing the method steps of the present embodiment.
Alternatively, the processor 61 may be implemented by, for example, a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a controller, a microcontroller, a microprocessor, or other electronic components, and the processor 61 is coupled to the input device 60 and the output device 62 through a wired or wireless connection.
Optionally, the input device 60 may include a variety of input devices, such as at least one of a user-oriented user interface, a device-oriented device interface, a software programmable interface, a camera, a scanner, a touch screen, an audio input device, a radio frequency reader, and a thermal sensing device. Optionally, the device interface facing the device may be a wired interface for data transmission between devices, or may be a hardware plug-in interface (e.g., a USB interface, a serial port, etc.) for data transmission between devices; optionally, the user-facing user interface may be, for example, a user-facing control key, a voice input device for receiving voice input, and a touch sensing device (e.g., a touch screen with a touch sensing function, a touch pad, etc.) for receiving user touch input; optionally, the programmable interface of the software may be, for example, an entry for a user to edit or modify a program, such as an input pin interface or an input interface of a chip; optionally, the transceiver may be a radio frequency transceiver chip with a communication function, a baseband processing chip, a transceiver antenna, and the like. Audio input devices such as a microphone can receive voice data, a radio frequency reader and the like can identify an electronic tag in an RFID mode, image acquisition devices such as a camera can shoot image identification two-dimensional codes and the like, and scanning input devices such as a code scanner and the like can scan the codes and the like. The output device 62 includes an output device such as a display, a sound, or the like. The display is used for displaying prompt information, article demand information and the like on a display interface.
In this embodiment, the processor of the computing device includes a module for executing the above module, and specific functions and technical effects may refer to the above embodiment, which is not described herein again.
Fig. 7 is a block diagram of an in-vehicle system according to an embodiment of the present application. The vehicle-mounted system 80 may be a device integrating multiple functions, for example, the vehicle-mounted system may be a vehicle-mounted computer, a vehicle machine, or the like, and the vehicle-mounted system may include the vehicle-mounted smart device.
Referring to FIG. 7, the on-board system 80 may include one or more of the following components: processing component 82, memory 84, power component 86, multimedia component 88, audio component 810, input/output (I/O) interface 812, sensor component 814, and communication component 816.
The processing component 82 generally controls the overall operation of the in-vehicle system 80, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing components 82 may include one or more processors 821 to execute instructions to perform all or a portion of the steps of the vehicle localization methods described above. Further, the processing component 82 may include one or more modules that facilitate interaction between the processing component 82 and other components. For example, the processing component 82 may include a multimedia module to facilitate interaction between the multimedia component 88 and the processing component 82.
The memory 84 is configured to store various types of data to support operation at the in-vehicle system 80. Examples of such data include instructions for any application or method operating on the in-vehicle system 80, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 84 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
The power supply components 86 provide power to the various components of the in-vehicle system 80. Power components 86 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for in-vehicle system 80.
The multimedia component 88 includes a screen that provides an output interface between the in-vehicle system 80 and the user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 88 may also include a front facing camera.
The audio component 810 is configured to output and/or input audio signals. For example, audio component 810 includes a Microphone (MIC) configured to receive external audio signals when in-vehicle system 80 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 84 or transmitted via the communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.
The I/O interface 812 provides an interface between the processing component 82 and peripheral interface modules, which may be click wheels, buttons, etc. These buttons may include, but are not limited to: a volume button, a start button, and a lock button.
The sensor assembly 814 includes one or more sensors for providing various aspects of state assessment for the on-board system 80. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 816 is configured to facilitate wired or wireless communication between the in-vehicle system 80 and other devices. The in-vehicle system 80 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the in-vehicle system 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic components for performing the above-described method of vehicle fleet operation.
Based on the above description of fig. 7 regarding a general-purpose smart device, the present application provides another embodiment, and this embodiment specifically discloses an in-vehicle smart device, such as an electronic system integrated in an internet automobile, and various electronic devices with computing and processing functions, such as a mobile phone and a tablet computer. Alternatively, the vehicle-mounted intelligent device may be integrated in a central control system of the vehicle, for example, may be integrated in the vehicle-mounted system according to the above embodiment. Alternatively, the vehicle-mounted system may be a system integrated with a vehicle machine on the vehicle, such as a vehicle-mounted navigation system and/or a vehicle-mounted entertainment system, and may also be a system including the vehicle machine and other devices of the vehicle, such as sensors and the like. Optionally, the vehicle-mounted intelligent device for the vehicle includes but is not limited to: vehicle equipment, control equipment attached after the vehicle leaves the factory, and the like.
Specifically, the vehicle-mounted intelligent device may include: an onboard input device, an onboard processor, an onboard output device, and other additional devices. It should be noted that, in the "onboard input device", "onboard output device", and "onboard processor" related to the embodiment of the present application, the onboard input device "," onboard output device ", and" onboard processor "may be carried on a vehicle, or the" onboard input device "," onboard output device ", and" onboard processor "may be carried on an aircraft, or may be carried on other types of vehicles, and the meaning of the" onboard "is not limited in the embodiment of the present application. Taking the vehicle as an example, the onboard input device may be an onboard input device, the onboard processor may be an onboard processor, and the onboard output device may be an onboard output device.
Depending on the type of vehicle being installed, the onboard processor may be implemented using various Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), Central Processing Units (CPUs), controllers, micro-controllers, microprocessors, or other electronic components, and may be used to perform the methods described above. The onboard processor is coupled to the onboard input device and the onboard output device via an in-vehicle line or wireless connection. According to the method in the embodiment corresponding to fig. 2 to 3, the onboard processor searches candidate road information of a plurality of candidate roads at the first time according to the positioning result at the first time and the map data; storing the positioning result and the candidate road information at the first moment into a cache region, wherein the cache region stores the positioning results and the candidate road information at the first N moments of the first moment; judging whether the positioning at the first moment meets a preset rule or not; and when the positioning at the first moment meets a preset rule, selecting an optimal candidate road from the candidate roads according to the data in the cache region.
Depending on the type of vehicle in which it is installed, the onboard output device may be an interface capable of interacting with a user (e.g., a voice announcement device, speakers, headphones, etc.) or may be a transceiver that establishes wireless transmissions with a user's handheld device or the like, which may be coupled to the onboard input device and onboard processor by in-vehicle wiring or wirelessly. According to the method in the embodiment corresponding to fig. 2 to 3, the onboard output device outputs the optimal candidate road.
Depending on the type of vehicle in which it is installed, the onboard input device may include a variety of input devices, and may include, for example, at least one of a user-facing in-vehicle user interface, a device-facing in-vehicle device interface, and a transceiver. Optionally, the device interface facing the device may be a wired interface for data transmission between the devices (for example, a connection interface with a vehicle data recorder on a console of the vehicle, a line interface between the console of the vehicle and a vehicle door, a hardware interface between the console of the vehicle and a vehicle-mounted air conditioner), a hardware plug-in interface for data transmission between the devices (for example, a USB interface, a serial port, etc.), a seat belt socket of the vehicle, an interface between hardware facilities such as a vehicle engine and other control devices, etc.; alternatively, the user-oriented in-vehicle user interface may be, for example, a steering wheel control key for a vehicle, a center control key for a large or small vehicle, a voice input device for receiving voice input (e.g., a microphone mounted on a steering wheel or an operating rudder, a central sound collection device, etc.), and a touch sensing device (e.g., a touch screen with touch sensing function, a touch pad, etc.) for receiving user touch input by a user; optionally, the transceiver may be a radio frequency transceiver chip, a baseband processing chip, a transceiver antenna, and the like, which have a communication function in a vehicle. According to the method in the embodiment corresponding to fig. 2 to 3, the onboard input device obtains the positioning result at the first moment.
An embodiment of the present application further provides a processor-readable storage medium, where the storage medium stores program instructions, and the program instructions are used to enable a processor to execute the vehicle positioning method described in fig. 2 to 3 in the foregoing embodiment. The processor-readable storage medium is similar to the non-volatile readable storage medium described above and therefore will not be described in detail.
On the basis of the above embodiment, the application further provides a vehicle-mounted internet operating system. Those skilled in the art will appreciate that the vehicle-mounted internet operating system can manage and control the hardware of the smart device shown in fig. 6 or fig. 7 or the hardware of the vehicle-mounted system or the computer program of the vehicle positioning system and the software resource of the vehicle positioning system, which are directly run on the smart device or the internet automobile or the vehicle-mounted system, which are directly run on the vehicle positioning system. The operating system may be an interface between the user and the voice-activated device or a voice-activated device for a vehicle, or may be an interface between hardware and other software.
The vehicle-mounted internet operating system can interact with other modules or functional equipment on a vehicle to control functions of the corresponding modules or functional equipment.
Specifically, taking the vehicle in the above embodiments as an example, and the vehicle-mounted intelligent device as a vehicle machine on the vehicle as an example, based on the development of the vehicle-mounted internet operating system and the vehicle communication technology provided by the present application, the vehicle is no longer independent of the communication network, and the vehicle and the server or the network server may be connected to each other to form a network, so as to form a vehicle-mounted internet. The vehicle-mounted internet system can provide voice communication service, positioning service, navigation service, mobile internet access, vehicle emergency rescue, vehicle data and management service, vehicle-mounted entertainment service and the like.
The following describes in detail a schematic structural diagram of the vehicle-mounted internet operating system provided by the present application. Fig. 8 is a schematic structural diagram of a vehicle-mounted internet operating system according to an embodiment of the present application. The vehicle-mounted internet operating system includes:
the acquisition unit 91 is used for controlling the vehicle-mounted input equipment to acquire a positioning result at a first moment;
the processing unit 92 is used for controlling the vehicle-mounted processor to search candidate road information of a plurality of candidate roads at the first moment according to the positioning result at the first moment and the map data; storing the positioning result and the candidate road information at the first moment into a cache region, wherein the cache region stores the positioning results and the candidate road information at the first N moments of the first moment; judging whether the positioning at the first moment meets a preset rule or not; when the positioning at the first moment meets a preset rule, selecting an optimal candidate road from the candidate roads according to the data in the cache region;
and an output unit 93 that controls the in-vehicle output device to output the optimal candidate road.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one of skill in the art, embodiments of the present application may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
In a typical configuration, the computer device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory. The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium. Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include non-transitory computer readable media (fransitory media), such as modulated data signals and carrier waves.
Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the true scope of the embodiments of the application.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The above detailed description is provided for a vehicle positioning method and a vehicle positioning system, and the principle and the implementation of the present application are explained in detail by applying specific examples, and the description of the above examples is only used to help understanding the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
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| CN110440817A (en) * | 2018-05-04 | 2019-11-12 | 沈阳美行科技有限公司 | A kind of course guiding method based on lane, device and relevant device |
| CN111291775B (en) * | 2018-12-07 | 2024-02-20 | 北京万集科技股份有限公司 | Vehicle positioning method, device and system |
| CN111381268B (en) * | 2018-12-28 | 2023-06-23 | 沈阳美行科技股份有限公司 | Vehicle positioning method, device, electronic equipment and computer readable storage medium |
| CN111397617B (en) * | 2019-01-03 | 2023-09-22 | 阿里巴巴集团控股有限公司 | Method and device for planning path for specific vehicle |
| CN112558007A (en) * | 2020-11-30 | 2021-03-26 | 北京金坤科创技术有限公司 | Accurate positioning method |
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