CN109974718B - Map matching method, apparatus, device and medium - Google Patents
Map matching method, apparatus, device and medium Download PDFInfo
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- CN109974718B CN109974718B CN201910282046.XA CN201910282046A CN109974718B CN 109974718 B CN109974718 B CN 109974718B CN 201910282046 A CN201910282046 A CN 201910282046A CN 109974718 B CN109974718 B CN 109974718B
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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Abstract
The embodiment of the invention discloses a map matching method, a map matching device, map matching equipment and a map matching medium, and relates to the technical field of navigation. The method comprises the following steps: correcting the road section position data in the road network according to the historical driving track; matching the corrected road sections in the road network with the current driving track; and determining the road section matched with the current driving track from the corrected road network according to the matching result. The embodiment of the invention provides a map matching method, a map matching device, map matching equipment and a map matching medium, so that the map matching accuracy is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of navigation, in particular to a map matching method, device, equipment and medium.
Background
Map matching refers to a process of matching a coordinate sequence of a vehicle in travel to an appropriate road section in a road network.
The current map matching method mainly comprises the following steps: and determining the observation probability and the state transition probability of the vehicle coordinate sequence and the road network data based on a hidden Markov model by taking the vehicle coordinate sequence as an observation variable and the road network data as a hidden state variable. And determining the road sections matched with the vehicle coordinate sequence in the road network data according to the determined observation probability and the state transition probability.
However, map matching accuracy is reduced due to wrong or changed road network properties, and vehicle coordinate sequence offset caused by poor positioning signals.
Disclosure of Invention
The embodiment of the invention provides a map matching method, a map matching device, map matching equipment and a map matching medium, which are used for improving the map matching accuracy.
In a first aspect, an embodiment of the present invention provides a map matching method, where the method includes:
correcting the road section position data in the road network according to the historical driving track;
matching the corrected road sections in the road network with the current driving track;
and determining the road section matched with the current driving track from the corrected road network according to the matching result.
In a second aspect, an embodiment of the present invention further provides a map matching apparatus, where the apparatus includes:
the data correction module is used for correcting the road section position data in the road network according to the historical driving track;
the position matching module is used for matching the road sections in the corrected road network with the current running track;
and the matching road section determining module is used for determining a road section matched with the current driving track from the corrected road network according to the matching result.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a map matching method as in any embodiment of the invention.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the map matching method according to any embodiment of the present invention.
According to the technical scheme of the embodiment of the invention, the road position data of the road network is corrected according to the historical driving track; and matching the current driving track acquired in real time based on the corrected road position data to determine a matched road section. The accuracy of the road position data after correction is higher than that of the road position data before correction, so that the map matching accuracy is improved.
Drawings
Fig. 1 is a flowchart of a map matching method according to an embodiment of the present invention;
FIG. 2 is a flowchart of a map matching method according to a second embodiment of the present invention;
fig. 3a is a block diagram of an implementation of a map matching method according to a third embodiment of the present invention;
fig. 3b is a partial schematic view of a road segment actual position determination provided by a third embodiment of the present invention;
FIG. 3c is a diagram of a reference point provided in the third embodiment of the present invention;
fig. 3d is a block diagram of an implementation of a track distribution network according to a third embodiment of the present invention;
fig. 3e is a schematic diagram illustrating an effect of matching a historical driving track of a target road section according to a third embodiment of the present invention;
fig. 3f is a block diagram of an implementation of matching a current driving trajectory according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a map matching apparatus according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a map matching method according to an embodiment of the present invention. The present embodiment is applicable to a case where a road segment matching the current travel track is determined based on a road network in which there is an error in the position data of the road segment. The method may be performed by a map matching apparatus, which may be implemented by software and/or hardware. Referring to fig. 1, the map matching method provided in the present embodiment includes:
and S110, correcting the road position data in the road network according to the historical driving track.
Wherein the historical travel track is a travel track that occurred by at least one user at a historical time. The driving trajectory is a sequence of trajectory points comprising at least two trajectory points. The track points are acquired by a positioning system of the vehicle or the terminal. Specifically, the history of travel trajectories may be acquired through a user's usage record of navigation.
Alternatively, the number of the history travel locus may be two, three, or more. Typically, the number of historical travel trajectories is massive.
The road network is a network architecture which is composed of road sections with different functions, grades and locations in a city range in a certain density and in a proper form. Specifically, the road network may include road segments and connection relationships between road segments. Wherein the section is formed by connecting at least two reference points.
Optionally, the road network may further include road segment attributes of each road segment.
Specifically, the correction of the link position data in the road network according to the historical travel track includes:
determining an optimal track in the historical driving tracks;
taking the road section matched with the optimal estimation in the road network as a target correction road section;
and replacing the target correction road section with the optimal track in the road network.
Typically, the modifying road segment data of the road network according to the historical driving track includes:
carrying out position matching on road sections in a road network and historical driving tracks, and determining at least two historical driving tracks matched with the road sections in the road network;
determining the actual positions of road segments in the road network according to the at least two historical driving tracks;
and correcting the road section position data of the road network according to the actual position.
The actual position refers to the actual position of the road segment in the road network in the actual scene.
Specifically, determining the actual positions of the road segments in the road network according to the at least two historical driving tracks comprises:
and determining the coordinates of the actual positions of the road sections in the road network according to the mean value of the coordinates of the track points in the at least two historical driving tracks.
Correcting road section position data of the road network according to the actual position, and the correcting process comprises the following steps:
and matching the positions of the road sections of the road network with the actual positions, and replacing the positions of the road sections which are not matched with the actual positions so as to realize the correction of the road section position data of the road network.
And S120, matching the corrected road section position data in the road network with the current driving track.
The current driving track is a driving track to be matched with a map and acquired in real time.
Specifically, the current driving track is determined according to the acquired real-time track points of the user.
And S130, determining the road section matched with the current driving track from the road network according to the matching result.
Specifically, determining a road segment matched with the current driving track from the road network according to the matching result comprises the following steps:
determining road sections matched with all track sections in the current driving track in a road network;
and connecting the road sections to serve as a road section sequence matched with the current driving track.
Typically, the determining, from the modified road network, a road segment matching the current driving track according to the matching result includes:
determining the emission probability of each track point in the current driving track according to the matching result, wherein the emission probability refers to the probability that each track point belongs to each road segment in the corrected road network;
determining the transition probability of two adjacent track points in the current driving track according to the matching result and the corrected road section attribute data in the road network, wherein the transition probability refers to the connection probability between the road sections to which the two track points belong;
and determining the road section matched with the current driving track according to the emission probability and the transition probability.
The link attribute data includes link static attribute data, link driving attribute data, and the like.
The link static attribute data includes a road class, a road type, and the like. The link types include an expressway, a main road, a sub road, and the like.
The link travel attribute data includes: at least one of road width, road on-off state, new road, and road traffic regulations.
Specifically, each track point in the current driving track is used as an observation variable set, and each road segment in the corrected road network is used as a hidden state variable set and input into the hidden Markov algorithm model. The model outputs observation probabilities and state transition probabilities.
Wherein, the observation probability and the like are the emission probability, and the state transition probability is the transition probability.
According to the technical scheme of the embodiment of the invention, the road position data of the road network is corrected according to the historical driving track; and matching the current driving track acquired in real time based on the corrected road position data to determine a matched road section. The accuracy of the road position data after correction is higher than that of the road position data before correction, so that the map matching accuracy is improved.
In order to improve the accuracy of determining the actual positions of the road segments, the determining the actual positions of the road segments in the road network according to the at least two historical driving tracks includes:
according to the matching result of the road sections in the road network and the historical driving track, performing quality classification on the historical driving track;
determining the weight of the historical driving track of each quality category;
and determining the actual position of the road section in the road network according to the weight and the historical driving track of each quality category.
Specifically, the quality classification of the historical driving track according to the matching result of the road segments in the road network and the historical driving track comprises the following steps:
if the matching degree is greater than a set high-quality threshold value, determining that the quality of the historical driving track is classified into a high-quality class;
if the matching degree is less than or equal to the set high quality threshold and is greater than the poor quality threshold, determining that the historical driving track is of a medium quality type;
and if the matching degree is less than or equal to the poor quality threshold value, determining the historical driving track as a poor quality class.
Determining the actual positions of the road segments in the road network according to the weights and the historical driving tracks of the quality classes, wherein the determining comprises the following steps:
fusing the historical driving tracks of all quality categories according to the weight to generate a fused track;
and determining the position of the fusion track as the actual position of the road section in the road network.
In order to improve the determination accuracy of the historical driving tracks, after determining at least two historical driving tracks matched with road segments in the road network, the method comprises the following steps:
matching the driving characteristics of the historical driving track with the driving characteristics of the road sections in the road network matched with the historical driving track;
and deleting the history running track with failed matching.
The driving characteristics refer to characteristics of a pedestrian or a vehicle driving on a historical driving track or a road section.
The driving characteristics include at least one of smoothness, a speed mean, a speed variance, a direction mean, a direction variance, whether the driving track crosses a bridge, whether the driving track crosses a tunnel, and a distance between the driving track and the candidate path of each track point in the historical driving track or each reference point in the road section.
Example two
Fig. 2 is a flowchart of a map matching method according to a second embodiment of the present invention. The present embodiment is an alternative proposed on the basis of the above-described embodiments. Referring to fig. 2, the map matching method provided in the present embodiment includes:
and S210, correcting the road position data in the road network according to the historical driving track.
And S220, respectively matching the road sections in the road network before correction with the historical driving tracks, and matching the road sections in the road network after correction with the historical driving tracks, and determining the historical driving tracks matched with the road sections in the road network before correction and the historical driving tracks matched with the road sections in the road network after correction.
And S230, comparing the historical driving track matched with the road section in the road network before the correction with the historical driving track matched with the road section in the road network after the correction, and determining the difference between the historical driving tracks of the road network before the correction and the road network after the correction.
Wherein the historical driving track difference comprises a difference of the number of the historical driving tracks and/or a difference of the driving directions of the historical driving tracks.
And S240, updating the road section driving attribute data in the corrected road network according to the historical driving track difference.
The road section driving attribute data is data which can cause the change of the number or the direction of the historical driving tracks in the road section attributes.
Specifically, the link travel attribute data includes: at least one of road width, road on-off state, new road, and road traffic regulations.
And S250, matching the road sections in the corrected road network with the current driving track.
And S260, determining a road section matched with the current running track from the corrected road network according to the matching result.
The execution sequence of the above steps is not limited in this embodiment. Alternatively, S250 and S260 may be performed prior to S220, S230, and S240.
According to the technical scheme of the embodiment of the invention, the change of the road attribute is mined according to the difference of the historical driving tracks of the corrected road network and the corrected road network. And correcting the modified road section driving attribute data of the road network according to the change of the road attribute, so that the modified road section driving attribute data is gradually close to the physical true value.
EXAMPLE III
Fig. 3a is a block diagram of an implementation of a map matching method according to a third embodiment of the present invention. The present embodiment is an alternative proposed based on the above embodiments, taking the example that the number of the historical travel tracks is huge. Referring to fig. 3a, the map matching method provided in this embodiment includes:
based on a Hidden Markov Model (HMM) algorithm, the road section of the current road network is matched with a large amount of historical driving tracks, and the matched road section of the large amount of historical driving tracks in the current road network is generated.
Referring to fig. 3b, each road segment 301 in the current road network is traversed, and the actual position 303 of the road segment 301 is learned by using the historical driving track 302 matched with the road segment 301. And constructing a track distribution road network according to the actual position of each road section.
And matching the current driving track acquired in real time based on the position of each road section in the track distribution road network and the road section attribute data of each road section in the current road network.
The track distribution road network only comprises road sections located at the actual positions, and the current road network comprises the road sections at the original positions and road section attribute data of the road sections.
Respectively matching each road section and massive historical driving tracks in a historical road network, and each road section and massive historical driving tracks in a current road network; determining the difference of historical driving tracks at the same position in the historical road network and the current road network according to the matching result; and mining the change of the road section driving attribute data of the road section according to the historical driving track difference. Such as road widening, road blocking, new road excavation, traffic rules changing, etc.
The current road network is the road network of the current version, and the historical road network is the road network of the historical version.
The following describes the construction of the trajectory distribution network and the matching of the current driving trajectory in detail:
each version of road network contains a large amount of road section information. Since not all road segments are straight lines. The road segment location is therefore mainly provided by the reference point. Each road section contains at least two reference points, and the roundabout road section contains at most tens of reference points. Fig. 3c is a schematic illustration of reference points, the road segment 304 comprising 4 reference points 305.
Referring to fig. 3d, the track distribution network construction specifically includes:
referring to fig. 3e, a plurality of historical driving traces 307 matching the target road segment 306 are obtained from the current road network and the massive historical driving traces.
The distance between each coordinate point information of the historical driving track 307 and the target road section 306 is determined, and the quality of the historical driving track 307 is determined according to the distance. Specifically, the quality of the historical travel track 307 may be divided into: null tracks, low-quality tracks, and high-quality tracks.
And giving different voting weights to the historical driving tracks with different qualities in a gradient descending mode, and determining a reference point for describing the actual position of the target road section according to the finally obtained global optimal solution with the weights.
And determining a track distribution road network according to the actual position of each target road section.
Referring to fig. 3f, the matching of the current driving trajectory includes:
and determining the emission probability of each track point in the current driving track by using the matching result of the road sections in the road network of the current driving track and the track respectively acquired in real time.
And determining the transition probability of each track point in the current driving track by using the matching results of the road sections in the road network of the current driving track and the track respectively and the road section attribute data of each road section in the current road network.
And fusing the emission probability and the transition probability to determine the Viterbi probability of the HMM.
And selecting the highest probability road section according to the determined Viterbi probability, and taking the highest probability road section as the road section matched with the current driving track.
According to the technical scheme of the embodiment of the invention, the actual positions of the road sections are determined based on a large number of historical tracks, so that the phenomenon that the map matching accuracy is not high under the condition that the road section positions in a road network are not consistent with the actual positions of the road sections or a noise scene exists in a user position sequence can be greatly inhibited. And meanwhile, excavating the deviation of the basic data of the road section.
Furthermore, the variation of the road section driving attribute data can be reversely mined through the historical driving track difference of the same position in the road network and the current road network of the track.
(1) Scene for position errors of road segments in road network
For the condition that basic road network data is wrong (such as road network deviation) in some parallel road scenes, the actual positions of road sections are determined according to historical driving tracks, and track matching is performed according to the actual positions of the road sections, so that correct matching of the current driving tracks is achieved.
(2) Noisy scene for user position sequence
When a user drives on the main road under the overhead, the whole driving track of the user deviates to the outer side of the overhead due to the shielding of the overhead. The traditional map matching strategy has the high possibility of matching partial true values of the track driven by the main road under the overhead to the auxiliary road under the overhead. In the embodiment, the historical driving track is also offset because the driving track of the user is offset, so that the actual position of the road segment in the track distribution road network is also offset along with the historical driving track, and the current driving track can still be correctly matched with the map based on the actual position of the road segment in the track distribution road network.
It should be noted that, through the technical teaching of the present embodiment, a person skilled in the art may motivate a combination of any one of the embodiments described in the above embodiments to improve the map matching accuracy.
Example four
Fig. 4 is a schematic structural diagram of a map matching apparatus according to a fourth embodiment of the present invention. Referring to fig. 4, the present embodiment is a map matching apparatus proposed on the basis of the above-described embodiments, and includes: a data correction module 10, a location matching module 20 and a matching road segment determination module 30.
The data correction module 10 is configured to correct road segment position data in a road network according to a historical driving track;
a position matching module 20, configured to match a road segment in the corrected road network with a current driving track;
and a matching road section determining module 30, configured to determine a road section matching the current driving track from the corrected road network according to the matching result.
According to the technical scheme of the embodiment of the invention, the road position data of the road network is corrected according to the historical driving track; and matching the current driving track acquired in real time based on the corrected road position data to determine a matched road section. The accuracy of the road position data after correction is higher than that of the road position data before correction, so that the map matching accuracy is improved.
Further, the data modification module includes: a position matching unit, an actual position determining unit and a position correcting unit.
The position matching unit is used for carrying out position matching on road sections in a road network and historical driving tracks and determining at least two historical driving tracks matched with the road sections in the road network;
the actual position determining unit is used for determining the actual positions of the road sections in the road network according to the at least two historical driving tracks;
and the position correction unit is used for correcting the road section position data of the road network according to the actual position.
Further, the actual position determining unit is specifically configured to:
according to the matching result of the road sections in the road network and the historical driving track, performing quality classification on the historical driving track;
and determining the actual position of the road section in the road network according to the weight of the historical driving track of each quality type and the historical driving track of each quality type.
Further, the apparatus comprises: the device comprises a driving feature matching module and a track deleting module.
The driving feature matching module is used for matching the driving features of the historical driving tracks with the driving features of the road sections in the road network matched with the historical driving tracks after at least two historical driving tracks matched with the road sections in the road network are determined;
and the track deleting module is used for deleting the history running track which fails to be matched.
Further, the apparatus further comprises: the system comprises a track matching module, a difference determining module and an attribute updating module.
The track matching module is used for respectively matching the road sections in the road network before correction with the historical driving tracks and the road sections in the road network after correction of the road section position data in the road network according to the historical driving tracks and determining the historical driving tracks matched with the road sections in the road network before correction and the historical driving tracks matched with the road sections in the road network after correction;
the difference determining module is used for comparing the historical driving track matched with the road section in the road network before the correction with the historical driving track matched with the road section in the road network after the correction, and determining the difference between the historical driving tracks of the road network before the correction and the road network after the correction;
and the attribute updating module is used for updating the corrected road section driving attribute data in the road network according to the historical driving track difference.
Further, the matching section determination module includes: the device comprises a transmission probability determining unit, a transition probability determining unit and a matching road section determining unit.
The emission probability determining unit is used for determining the emission probability of each track point in the current driving track according to the matching result, wherein the emission probability refers to the probability that each track point belongs to each road segment in the corrected road network;
the transition probability determining unit is used for determining the transition probability of two adjacent track points in the current driving track according to the matching result and the corrected road section attribute data in the road network, wherein the transition probability refers to the connection probability between the road sections to which the two track points belong;
and the matching road section determining unit is used for determining a road section matched with the current driving track according to the emission probability and the transition probability.
Further, the historical travel track difference comprises a difference in the number of historical travel tracks and/or a difference in the travel direction of the historical travel tracks;
the link travel attribute data includes: at least one of road width, road on-off state, new road, and road traffic regulations.
The map matching device provided by the embodiment of the invention can execute the map matching method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE five
Fig. 5 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention. FIG. 5 illustrates a block diagram of an exemplary electronic device 12 suitable for use in implementing embodiments of the present invention. The electronic device 12 shown in fig. 5 is only an example and should not bring any limitation to the function and the scope of use of the embodiment of the present invention.
As shown in FIG. 5, electronic device 12 is embodied in the form of a general purpose computing device. The components of electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, and commonly referred to as a "hard drive"). Although not shown in FIG. 5, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing, such as implementing a map matching method provided by an embodiment of the present invention, by running a program stored in the system memory 28.
EXAMPLE six
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a map matching method according to any embodiment of the present invention, where the method includes:
correcting the road section position data in the road network according to the historical driving track;
matching the corrected road sections in the road network with the current driving track;
and determining the road section matched with the current driving track from the corrected road network according to the matching result.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (11)
1. A map matching method, comprising:
correcting the road section position data in the road network according to the historical driving track;
matching the corrected road sections in the road network with the current driving track;
determining a road section matched with the current driving track from the corrected road network according to the matching result;
wherein, the correcting the road section position data in the road network according to the historical driving track comprises the following steps:
carrying out position matching on road sections in a road network and historical driving tracks, and determining at least two historical driving tracks matched with the road sections in the road network;
determining the actual positions of road segments in the road network according to the at least two historical driving tracks; wherein the road section is provided with at least two reference points, and the actual position of the road section is determined by determining the actual positions of the reference points;
correcting road section position data of the road network according to the actual position;
wherein, the correcting the road section position data of the road network according to the actual position comprises:
matching the positions of the road sections of the road network with the actual positions, and replacing the positions of the road sections which are not matched with the actual positions so as to correct the position data of the road sections of the road network;
wherein, the determining the actual position of the road segment in the road network according to the at least two historical driving tracks comprises:
according to the matching result of the road sections in the road network and the historical driving track, performing quality classification on the historical driving track; wherein the quality classes include a high quality class, a medium quality class, and a poor quality class;
and determining the actual position of the road section in the road network according to the weight of the historical driving track of each quality type and the historical driving track of each quality type.
2. The method according to claim 1, wherein after determining at least two historical driving trajectories matching road segments in a road network, the method comprises:
matching the driving characteristics of the historical driving track with the driving characteristics of the road sections in the road network matched with the historical driving track;
and deleting the history running track with failed matching.
3. The method according to claim 1, wherein after correcting the road segment position data in the road network according to the historical driving track, the method further comprises:
respectively matching the road sections in the road network before correction with the historical driving tracks, and matching the road sections in the road network after correction with the historical driving tracks, and determining the historical driving tracks matched with the road sections in the road network before correction and the historical driving tracks matched with the road sections in the road network after correction;
comparing the historical driving track matched with the road section in the road network before correction with the historical driving track matched with the road section in the road network after correction, and determining the difference between the historical driving tracks of the road network before correction and the road network after correction;
and updating the road section driving attribute data in the corrected road network according to the historical driving track difference.
4. The method according to claim 3, wherein the historical travel track difference comprises a difference in the number of historical travel tracks and/or a difference in the direction of travel of a historical travel track;
the link travel attribute data includes: at least one of road width, road on-off state, new road, and road traffic regulations.
5. The method according to claim 1, wherein determining the road segment matched with the current driving track from the modified road network according to the matching result comprises:
determining the emission probability of each track point in the current driving track according to the matching result, wherein the emission probability refers to the probability that each track point belongs to each road segment in the corrected road network;
determining the transition probability of two adjacent track points in the current driving track according to the matching result and the corrected road section attribute data in the road network, wherein the transition probability refers to the connection probability between the road sections to which the two track points belong;
and determining the road section matched with the current driving track according to the emission probability and the transition probability.
6. A map matching apparatus, comprising:
the data correction module is used for carrying out position matching on road sections in a road network and historical driving tracks and determining at least two historical driving tracks matched with the road sections in the road network; determining the actual positions of road segments in the road network according to the at least two historical driving tracks; wherein the road section is provided with at least two reference points, and the actual position of the road section is determined by determining the actual positions of the reference points; matching the positions of the road sections of the road network with the actual positions, and replacing the positions of the road sections which are not matched with the actual positions so as to correct the position data of the road sections of the road network;
the position matching module is used for matching the road sections in the corrected road network with the current running track;
the matching road section determining module is used for determining a road section matched with the current driving track from the corrected road network according to the matching result;
the data correction module includes an actual position determination unit, and the actual position determination unit is specifically configured to:
according to the matching result of the road sections in the road network and the historical driving track, performing quality classification on the historical driving track; wherein the quality classes include a high quality class, a medium quality class, and a poor quality class;
and determining the actual position of the road section in the road network according to the weight of the historical driving track of each quality type and the historical driving track of each quality type.
7. The apparatus of claim 6, wherein the apparatus comprises:
the driving feature matching module is used for matching the driving features of the historical driving tracks with the driving features of the road sections in the road network matched with the historical driving tracks after at least two historical driving tracks matched with the road sections in the road network are determined;
and the track deleting module is used for deleting the history running track which fails to be matched.
8. The apparatus of claim 6, further comprising:
the track matching module is used for respectively matching the road sections in the road network before correction with the historical driving tracks and the road sections in the road network after correction according to the historical driving tracks and determining the historical driving tracks matched with the road sections in the road network before correction and the historical driving tracks matched with the road sections in the road network after correction;
the difference determining module is used for comparing the historical driving track matched with the road section in the road network before the correction with the historical driving track matched with the road section in the road network after the correction, and determining the difference between the historical driving tracks of the road network before the correction and the road network after the correction;
and the attribute updating module is used for updating the corrected road section driving attribute data in the road network according to the historical driving track difference.
9. The apparatus of claim 6, wherein the matching segment determination module comprises:
the emission probability determining unit is used for determining the emission probability of each track point in the current driving track according to the matching result, wherein the emission probability refers to the probability that each track point belongs to each road segment in the corrected road network;
the transition probability determining unit is used for determining the transition probability of two adjacent track points in the current driving track according to the matching result and the corrected road section attribute data in the road network, wherein the transition probability refers to the connection probability between the road sections to which the two track points belong;
and the matching road section determining unit is used for determining a road section matched with the current driving track according to the emission probability and the transition probability.
10. An electronic device, characterized in that the device comprises:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the map matching method of any of claims 1-5.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a map matching method according to any one of claims 1 to 5.
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