CN114485687B - Vehicle position determining method and related device - Google Patents
Vehicle position determining method and related device Download PDFInfo
- Publication number
- CN114485687B CN114485687B CN202011275366.1A CN202011275366A CN114485687B CN 114485687 B CN114485687 B CN 114485687B CN 202011275366 A CN202011275366 A CN 202011275366A CN 114485687 B CN114485687 B CN 114485687B
- Authority
- CN
- China
- Prior art keywords
- ramp
- determining
- vehicle
- sequence
- road
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- 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
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
Abstract
The embodiment of the application provides a vehicle position determining method and a related device, wherein the method comprises the following steps: after a vehicle passes through a preset sampling point of a current road, sequentially acquiring elevation differences of the vehicle relative to the preset sampling point at a plurality of vehicle positions to obtain an elevation difference sequence, wherein the vehicle positions are positioned in a detection range; acquiring a first high Cheng Chazi sequence and a second elevation difference subsequence; determining the ramp attribute of the current road according to the first high Cheng Chazi sequence and the second elevation difference subsequence; and determining a target road according to the map information of each branch road in the plurality of branch roads and the ramp attribute of the current road. Therefore, the problem that ramp identification is inaccurate due to elevation data jitter caused by objective reasons such as road surface fluctuation can be solved, and accuracy of vehicle position determination is improved.
Description
Technical Field
The application relates to the field of vehicle positioning, in particular to a vehicle position determining method and a related device.
Background
At present, a method commonly used for positioning a running vehicle is a GPS (Global Position System, global positioning system) satellite positioning method, that is, a positioning terminal receives position coordinates transmitted by at least 3 satellites among 24 GPS satellites surrounding the earth, and determines an accurate position of the running vehicle in an electronic map in combination with the electronic map. However, because the GPS positioning error is larger in height, the specific road position of the current running vehicle cannot be accurately acquired, and the positioning accuracy is lower.
Disclosure of Invention
The embodiment of the application provides a vehicle position display method and a related device, which are used for accurately determining which road of a plurality of roads a vehicle is currently running on and improving positioning accuracy.
In a first aspect, an embodiment of the present application provides a vehicle position determining method, including the steps of:
after a vehicle passes through a preset sampling point of a current road, sequentially acquiring elevation differences of the vehicle at a plurality of vehicle positions relative to the preset sampling point to obtain an elevation difference sequence;
acquiring a first high Cheng Chazi sequence and a second high Cheng Chazi sequence, wherein the first high Cheng Chazi sequence is a high Cheng Chazhi and largest subsequence in all continuous subsequences included in the high Cheng Chazi sequence, and the second high Cheng Chazi sequence is a high Cheng Chazhi and smallest subsequence in all continuous subsequences included in the high Cheng Chazi sequence;
determining the ramp attribute of the current road according to the first high Cheng Chazi sequence and the second elevation difference subsequence;
and determining a target road according to the map information of each branch road in the plurality of branch roads and the ramp attribute of the current road, wherein the target road is at least one branch road in the plurality of branch roads.
In a second aspect, an embodiment of the present application provides a vehicle position determining apparatus, including:
the first acquisition unit is used for sequentially acquiring the elevation differences of the vehicle at a plurality of vehicle positions relative to the preset sampling points after the vehicle passes through the preset sampling points of the current road to obtain an elevation difference sequence;
a second obtaining unit, configured to obtain a first high Cheng Chazi sequence and a second high Cheng Chazi sequence, where the first high Cheng Chazi sequence is a high Cheng Chazhi and largest subsequence among all continuous subsequences included in the high Cheng Chazi sequence, and the second high differential subsequence is a high Cheng Chazhi and smallest subsequence among all continuous subsequences included in the high differential sequence;
a first determining unit, configured to determine a ramp attribute of the current road according to the first high Cheng Chazi sequence and the second elevation difference subsequence;
and the second determining unit is used for determining a target road according to the map information of each branch road in the plurality of branch roads and the ramp attribute of the current road, wherein the target road is at least one branch road in the plurality of branch roads.
In a third aspect, the application provides an electronic device comprising a processor, a memory, and one or more programs stored in the memory and configured for execution by the processor, the programs comprising instructions for performing the steps of any of the methods of the first or second aspects described above.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to perform some or all of the steps as described in any of the methods of the first or second aspects of the embodiments of the present application.
In a fifth aspect, embodiments of the present application provide a computer program, wherein the computer program is operable to cause a computer to perform some or all of the steps described in any of the methods of the first or second aspects of the embodiments of the present application. The computer program may be a software installation package.
It can be seen that in the embodiment of the present application, firstly, after a vehicle passes through a preset sampling point of a current road, the elevation difference of the vehicle at a plurality of vehicle positions relative to the preset sampling point is sequentially obtained to obtain an elevation difference sequence, then, a first elevation Cheng Chazi sequence and a second elevation difference subsequence are obtained, then, according to the first elevation Cheng Chazi sequence and the second elevation difference subsequence, the ramp attribute of the current road is determined, and finally, according to the map information of each branch road in a plurality of branch roads and the ramp attribute of the current road, a target road is determined. Therefore, the problem that ramp identification is inaccurate due to elevation data jitter caused by objective reasons such as road surface fluctuation can be solved, and error identification can be avoided and vehicle positioning accuracy can be improved through multi-branch cooperation comparison of ramp attributes.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1a is a schematic illustration of a vehicle according to an embodiment of the present application;
fig. 1b is a schematic structural diagram of an electronic device according to an embodiment of the present application;
FIG. 2a is a schematic flow chart of a method for determining a vehicle position according to an embodiment of the present application;
FIG. 2b is a schematic diagram of an altitude difference calculation method according to an embodiment of the present application;
FIG. 2C is a schematic diagram of a target road determination process according to an embodiment of the present application;
fig. 3 is a schematic structural view of a vehicle position determining apparatus according to an embodiment of the present application;
fig. 4 is a schematic structural view of another vehicle position determining apparatus according to an embodiment of the present application.
Detailed Description
In order to make the present application better understood by those skilled in the art, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
At present, when the vehicle position is determined through the ramp, the ramp attribute threshold marked during map data production is inconsistent with the ramp attribute threshold during discrimination, and the data jitter is caused by the fluctuation of a display route, so that the finally identified ramp is inaccurate easily, and the matched vehicle position is inaccurate.
Accordingly, in order to solve the above-mentioned problems, embodiments of the present application provide a vehicle position determining method and related apparatus, and the following detailed description of the embodiments of the present application is given with reference to the accompanying drawings.
Referring to fig. 1a, fig. 1a is a schematic diagram of a vehicle according to an embodiment of the application. As shown in the figure, the vehicle 100 includes a vehicle position determining device, where the vehicle position determining device is configured to obtain an elevation difference of a current position of the vehicle 100 relative to a preset sampling point, determine a ramp attribute of a current road according to the elevation difference by using the vehicle, and match map data, where the current vehicle is located, so as to obtain a position where the current vehicle is located, where the map data may be maintained in a vehicle database or may be downloaded from a cloud. After the elevation difference is obtained according to the vehicle position determining device, the vehicle uploads the elevation difference data to the cloud end, and the cloud end determines the current position of the vehicle according to the map data.
Referring to fig. 1b, fig. 1b is a schematic structural diagram of an electronic device according to an embodiment of the application. As shown, the electronic device 110 may be applied to a vehicle, the electronic device 110 may implement steps in a method for determining a location of the vehicle, the electronic device 110 includes an application processor 120, a memory 130, a communication interface 140, and one or more programs 131, wherein the one or more programs 131 are stored in the memory 130 and configured to be executed by the application processor 120, and the one or more programs 131 include instructions for performing any of the steps in the embodiments of the method.
The communication unit is used for supporting the communication between the first electronic device and other devices. The terminal may further comprise a memory unit for storing program codes and data of the terminal.
The processing unit may be an Application processor 120 or a controller, such as a central processing unit (Central Processing Unit, CPU), a general purpose processor, a digital signal processor (Digital Signal Processor, DSP), an Application-specific integrated circuit (ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various exemplary logic blocks, units and circuits described in connection with this disclosure. The processor may also be a combination that performs the function of a computation, e.g., a combination comprising one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication unit may be a communication interface 140, a transceiver, a transceiving circuit, etc., and the storage unit may be a memory 130.
The memory 130 may be volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. The volatile memory may be random access memory (random access memory, RAM) which acts as an external cache. By way of example but not limitation, many forms of random access memory (random access memory, RAM) are available, such as Static RAM (SRAM), dynamic Random Access Memory (DRAM), synchronous Dynamic Random Access Memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced Synchronous Dynamic Random Access Memory (ESDRAM), synchronous Link DRAM (SLDRAM), and direct memory bus RAM (DR RAM).
In a specific implementation, the application processor 120 is configured to perform any step performed by the first electronic device in the above-described method embodiment, and when performing data transmission such as sending, selectively invokes the communication interface 140 to complete a corresponding operation.
Referring to fig. 2a, fig. 2a is a flowchart illustrating a vehicle position determining method according to an embodiment of the application. As shown, the vehicle position determination method includes the following steps.
S201, after a vehicle passes through a preset sampling point of a current road, sequentially acquiring elevation differences of the vehicle relative to the preset sampling point at a plurality of vehicle positions, and obtaining an elevation difference sequence, wherein the vehicle positions are located in a detection range.
The preset sampling point may be a ramp starting point, that is, whether the vehicle enters the ramp can be judged first, and the ramp starting point of the ramp is used as the preset sampling point after the vehicle enters the ramp. The collecting mode of the elevation difference sequence can be that after the vehicle enters the ramp, the position of the ramp starting point of the ramp is determined, and then the elevation difference between the current position of the vehicle and the ramp starting point can be calculated after the vehicle travels a certain distance, namely a certain distance away from the ramp starting point. The elevation difference can be determined once at intervals of a certain driving distance to obtain an elevation difference sequence, and the elevation difference can be determined once at intervals of a certain time. The determination of the height difference may be ended until the vehicle leaves the detection range position, and for the determination of the detection range, it may be determined in advance according to the terrain or the length or range of all possible branches in which the vehicle is currently located, or the like. For example, after entering an overhead, one or more outlets corresponding to a plurality of branch roads may appear, or a plurality of branch roads exist at the same time in the same space range, so that one space range may be determined as a detection range, and it should be noted that, in order to ensure that the vehicle completely enters the ramp, the step of acquiring the elevation difference may be performed after the vehicle leaves the ramp starting point for a certain distance, so that the detection range does not include the ramp starting point. As shown in fig. 2b, fig. 2b is a schematic diagram of an altitude difference calculating method according to an embodiment of the present application, first, after a distance from a vehicle to a ramp starting point is L1, determining an L3 range as a detection range, and calculating an altitude difference at any position of the vehicle within the L3 range, where a distance from a current vehicle position to the ramp starting point L2 is a sampling distance, where the sampling distance may be changed along with movement of the vehicle, so as to obtain a plurality of different altitude difference values.
S202, a first high Cheng Chazi sequence and a second high Cheng Chazi sequence are obtained, wherein the first high Cheng Chazi sequence is a high Cheng Chazhi and largest subsequence in all continuous subsequences included in the high Cheng Chazi sequence, and the second high Cheng Chazi sequence is a high Cheng Chazhi and smallest subsequence in all continuous subsequences included in the high Cheng Chazi sequence.
Since a plurality of elevation differences can be obtained within the detection range, the obtained elevation difference sequence comprises a plurality of elevation difference values, the elevation difference sequence can be divided into a plurality of height Cheng Chazi sequences, all the elevation difference values in the height Cheng Chazi sequences are added to obtain a height Cheng Chazi sequence with the largest value, namely a first height Cheng Chazi sequence, and the elevation difference subsequence with the smallest value is a second elevation difference subsequence. The continuous subsequences refer to that the sequences of the elevation differences existing in the elevation difference sequences are continuous with each other, which can also be said that the elevation differences existing in each elevation difference subsequence are continuous in the acquisition order. For example, in the detection range, the obtained elevation difference sequence is [ -2,1, -3,4, -1,2,1, -5,4], and the consecutive maximum subsequence in the elevation difference sequence is [4, -1,2,1], and the maximum value is: 6. thus [4, -1,2,1] this high Cheng Chazi sequence is the first high Cheng Chazi sequence.
It should be understood that, the sum of the elevation difference sequences and the height Cheng Chazhi of the elevation difference sequences according to the embodiments of the present application are all summation of elements in the elevation difference sequences, which will not be described in detail later.
And S203, determining the ramp attribute of the current road according to the first high Cheng Chazi sequence and the second elevation difference subsequence.
The current road is one of a plurality of branch roads where the vehicle is actually located, the ramp attributes comprise that the road is an ascending slope or an ascending gentle slope or a descending gentle slope or a flat slope, and the sum of the elevation difference sub-sequences corresponds to different ramp attributes respectively.
S204, determining a target road according to the map information of each branch road in the plurality of branch roads and the ramp attribute of the current road, wherein the target road is at least one branch road in the plurality of branch roads.
The map information includes ramp attributes of each of all the branch roads, after the ramp attributes of the current road are obtained, the map information is matched with the ramp attributes of a plurality of corresponding branch roads in the map information, so that at least one branch road conforming to the ramp attributes of the current road can be obtained, the branch road conforming to the ramp attributes is determined to be a target road, and the current position of the vehicle on the target road can be determined. The determination of the branch road may be to determine an overhead where the vehicle is located first, determine all the branch roads of the overhead as the branch road, or acquire that the vehicle is a travel start point and a destination, and determine, as the branch road, a branch road from among a plurality of branch roads on the overhead from which the destination can be reached.
In this example, after the vehicle passes through the preset sampling point of the current road, the elevation difference of the vehicle at a plurality of vehicle positions relative to the preset sampling point is sequentially obtained to obtain an elevation difference sequence, then a first elevation Cheng Chazi sequence and a second elevation difference subsequence are obtained, then the attribute of the current road is determined according to the sum of the first elevation Cheng Chazi sequence and the sum of the second elevation difference subsequence, and finally the target road is determined according to the map information of each branch road in the plurality of branch roads and the ramp attribute of the current road. Therefore, the problem that ramp identification is inaccurate due to elevation data jitter caused by objective reasons such as road surface fluctuation can be solved, and error identification can be avoided and vehicle positioning accuracy can be improved through multi-branch cooperation comparison of ramp attributes.
In one possible example, the determining the ramp attribute of the current road according to the first high Cheng Chazi sequence and the second elevation difference subsequence includes the steps of: determining that the ramp attribute of the current road is an ascending slope under the conditions that the height Cheng Chazhi of the first height Cheng Chazi sequence is larger than a first preset value; determining that the ramp attribute of the current road is a gentle upward slope under the conditions that the first high Cheng Chazi sequence is high Cheng Chazhi and less than the first preset value and greater than a second preset value; under the conditions that the height Cheng Chazhi of the second elevation difference subsequence is smaller than a third preset value and larger than a fourth preset value, determining that the ramp property of the current road is a downward gentle slope; determining that the ramp attribute of the current road is a downhill slope under the condition that the sum of the second elevation difference subsequences is smaller than the fourth preset value; and determining that the ramp property of the current road is a flat slope under the condition that the high Cheng Chazhi sum of the first high Cheng Chazi sequence is smaller than a second preset value and the high Cheng Chazhi sum of the second elevation difference subsequence is larger than the third preset value.
The method comprises the steps of determining whether the ramp attribute of the current road is an ascending slope or a gentle slope according to the sum of the elevation differences in the first elevation Cheng Chazi sequence, determining whether the ramp attribute of the current road is a descending slope or a gentle slope according to the sum of the elevation differences in the second elevation difference subsequence, and otherwise determining that the ramp attribute of the current road is a flat slope. For example, it is determined that the first preset value is a, the second preset value is B, the third preset value is C, the fourth preset value is D, and a > B >0> C > D, then the first high Cheng Chazi sequence is Cheng Chazhi and greater than a, then an uphill slope if the first high Cheng Chazi sequence is Cheng Chazhi and greater than B and less than a, then an uphill slope if the second high Cheng Chazhi and greater than D and less than C, then a downhill slope if the second high Cheng Chazhi and less than D, then a downhill slope if the first high Cheng Chazi sequence is not satisfied, then the current road ramp attribute is considered to be a flat slope. The value of the determined first preset value is A, the second preset value is B, the third preset value is C, and the fourth preset value is D, which can be determined according to the dividing value of the ramp attribute on the map data.
Therefore, in this example, the ramp attribute is determined by calculating the maximum elevation change within the detection distance, so that the problem that the ramp identification is inaccurate due to elevation data jitter caused by objective reasons such as road surface fluctuation can be solved, and the positioning accuracy of the vehicle position is improved.
In one possible example, the determining the target road according to the map information of each of the plurality of branch roads and the ramp attribute of the current road includes the steps of: determining the ramp attribute of each branch road according to the map information of each branch road; and determining the branch road with the same ramp attribute as the current road in the plurality of branch roads as a target road.
The ramp attribute of the current road can be determined according to the sum of the elevation differences, then the ramp attribute of the corresponding branch road in the map information is obtained, and the branch road with the same ramp attribute as the current road in the map information is determined as the target road. At this time, the current position of the vehicle is still in the detection range, after the current position is changed, the determined target roads may be the same or different, if there are multiple target roads, the determined target road at each vehicle position may be obtained, and finally, the road with intersection among the determined target roads at multiple vehicle positions is selected as the final target road. For example, as shown in fig. 2C, fig. 2C is a schematic diagram of a target road determining process provided in an embodiment of the present application, where the target road determined at the vehicle position 1 has three branches, namely, a branch road X, a branch road Y and a branch road Z, and the target road determined at the vehicle position 2 has two branches, namely, a branch road X and a branch road M, so that the road X can be determined as a final target road.
In this example, the branch matching result is adopted as the road to be selected, that is, the road to be selected participating in the ramp identification is filtered by the positioning precision and the road topology relationship, so that the interference of the invalid parallel road is effectively eliminated, and the ramp identification accuracy is improved. And the attributes of the ramps are compared through the cooperation of multiple branches, so that false recognition can be avoided, and the positioning accuracy of the vehicle position is improved.
In one possible example, the determining the target road according to the map information of each of the plurality of branch roads and the ramp attribute of the current road includes the steps of: determining branch roads with the same ramp attribute as the ramp attribute of the current road in the plurality of branch roads as alternative roads, wherein the elevation difference sequence comprises an elevation difference corresponding to the current vehicle position and an elevation difference corresponding to the vehicle position positioned in front of the current vehicle position; determining the next vehicle position as the current vehicle position, and deleting branch roads with different ramp attributes from the current road, wherein the ramp attributes are included in the alternative road; repeating the steps until the current vehicle position is out of the detection range; and determining at least one branch road in the candidate roads as a target road.
The method comprises the steps of acquiring the values of the elevation differences at a plurality of vehicle positions in a detection range, wherein the values of the elevation differences included in an elevation difference sequence gradually increase along with the movement of the vehicle, screening the branch road in real time in the process of moving the vehicle until the vehicle leaves the detection range, determining the final branch road as a target road, and determining the detection range according to the running distance of the vehicle or the number of the acquired elevation differences, so that the detection range can be preset according to requirements or can be changed in the process of acquiring the elevation differences.
Therefore, in the example, the non-conforming branches are screened out from the branch roads in real time according to the current position of the vehicle until the vehicle leaves the detection range, so that the interference of the invalid parallel roads is effectively eliminated, the accuracy of ramp identification is improved, and the positioning accuracy of the vehicle position is ensured.
In one possible example, the determining the ramp attribute of the current road according to the first high Cheng Chazi sequence and the second elevation difference subsequence includes the steps of: acquiring a first distance between a vehicle position corresponding to a first elevation difference in the first high Cheng Chazi sequence and the preset sampling point; acquiring a second distance between a vehicle position corresponding to a first elevation difference in the second elevation difference subsequence and the preset sampling point; determining a first ramp attribute corresponding to the current road according to the first high Cheng Chazi sequence; determining a second ramp attribute corresponding to the current road according to the second elevation difference subsequence; and determining the ramp attributes of the current road according to the first distance, the second distance, the first ramp attribute and the second ramp attribute, wherein the current road comprises two ramps with different ramp attributes, and the ramp attributes of the two ramps with different ramp attributes are the first ramp attribute and the second ramp attribute respectively.
If one ramp attribute of the current road is determined according to the sum of the first high Cheng Chazi sequences, and another ramp attribute of the current road is determined according to the sum of the second elevation difference subsequences, it means that two different ramp attributes exist simultaneously in the detection range. It should be noted that, if the ramp attribute of the road determined according to the elevation difference sequence is two different ramp attributes, the application needs to perform combined calculation according to two parameters of distance and position at the same time to determine the final target road when determining the target road. For example, when the ramp attribute of the road existing at the start point of the ramp is an ascending ramp and after a certain distance, a descending ramp appears on the road, when the road is matched with the ramp attribute of the branch in the map information, the branch road with only one ramp attribute can be screened out, then the appearance sequence of the two ramps of the current road is respectively determined, and the two ramps are matched with the appearance sequence of the ramp in the branch road. For example, if the current road is ascending and then descending a gentle slope from the slope at the start of the slope, and one of the branch roads is descending a gentle slope and then ascending, then the branch roads are not matched. The determining manner of the ramp appearance sequence may be that a first position of a first elevation difference value in the first high Cheng Chazi sequence in the elevation difference sequence is determined, a second position of a first elevation difference value in the second elevation difference sub-sequence in the elevation difference sequence is determined, a first position and a first position of the second position in the elevation difference sequence are first appeared, then the elevation difference sub-sequence corresponding to the first position appears first, and then the ramp attribute corresponding to the high Cheng Chazi sequence appears first.
In this example, considering that a plurality of ramp attributes appear in the detection range, the branch matching result is adopted as the road to be selected, that is, the candidate road participating in the ramp identification is filtered by the positioning precision and the road topological relation, so that the interference of the invalid parallel road can be effectively eliminated, and the accuracy of the ramp identification is improved. And the attributes of the ramps are compared through the multi-branch cooperation, so that false recognition can be avoided, and the accuracy of vehicle position positioning is ensured.
In one possible example, the sequentially acquiring the elevation differences of the vehicle at a plurality of vehicle positions relative to the preset sampling point includes: acquiring a first reading value of the barometer at the preset sampling point; acquiring a second reading of the barometer at each of the plurality of vehicle locations; and determining the elevation difference of the vehicle relative to the preset sampling point at each vehicle position according to the first reading value and the second reading value, and obtaining the elevation difference of the vehicle relative to the preset sampling point at a plurality of vehicle positions.
The vehicle may include a barometer, which first determines a reading value of the barometer at a preset sampling point, that is, a starting point of the ramp, and then determines a reading value of the barometer at each vehicle position, so as to calculate a value of the elevation difference at the current vehicle position according to the reading value of the current barometer and the reading value at the starting point of the ramp. Specifically, after calculating the value of the differential elevation, the specific differential elevation can be calculated again by means of kalman filtering or low-pass filtering.
Therefore, the height difference is determined through the change of the reading value of the barometer, the height difference of the current vehicle position relative to the preset sampling point can be simply and rapidly determined, and the positioning accuracy of the vehicle position is ensured.
In one possible example, the sequentially acquiring the elevation differences of the vehicle at a plurality of vehicle positions relative to the preset sampling point includes: acquiring attitude information of the vehicle at each of a plurality of vehicle positions; acquiring the distance from the preset sampling point to each vehicle position; and determining the elevation difference of the vehicle relative to the preset sampling point at each vehicle position according to the attitude information and the distance, and obtaining the elevation difference of the vehicle at a plurality of vehicle positions relative to the preset sampling point respectively.
Wherein the attitude information includes whether the current state of the vehicle is in a depression angle or an elevation angle. A global navigation satellite system (GLOBAL NAVIGATION SATELLITE SYSTEM, GNSS) can be used, combined with an inertial measurement UNIT (INERTIAL MEASUREMENT UNIT, IMU) and an odometer to locate and calculate the elevation difference from the pitch angle and the vehicle speed or distance. For example, the current vehicle posture information is that the current elevation angle of the vehicle is 15 degrees, and the distance between the current position of the vehicle and the preset sampling point, namely, the distance between the current position of the vehicle and the starting point of the ramp is 100 meters, so that the current elevation difference of the vehicle relative to the starting point of the ramp can be calculated according to the elevation angle and the distance.
Therefore, the height difference is determined through the attitude information of the vehicle and the distance between the current vehicle position and the preset sampling point, the height difference of the current vehicle position relative to the preset sampling point can be simply and rapidly determined, and the positioning accuracy of the vehicle position is ensured.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a vehicle position determining apparatus according to an embodiment of the present application, in which the vehicle position determining apparatus 300 includes: the first obtaining unit 301 is configured to sequentially obtain, after a vehicle passes through a preset sampling point of a current road, elevation differences of the vehicle relative to the preset sampling point at a plurality of vehicle positions, so as to obtain an elevation difference sequence, where the plurality of vehicle positions are located in a detection range; a second obtaining unit 302, configured to obtain a first high Cheng Chazi sequence and a second high Cheng Chazi sequence, where the first high Cheng Chazi sequence is a high Cheng Chazhi and largest subsequence among all continuous subsequences included in the high Cheng Chazi sequence, and the second high differential subsequence is a high Cheng Chazhi and smallest subsequence among all continuous subsequences included in the high differential sequence; a first determining unit 303, configured to determine a ramp attribute of the current road according to the first high Cheng Chazi sequence and the second altitude difference subsequence; the second determining unit 304 is configured to determine a target road according to map information of each of a plurality of branch roads and a ramp attribute of the current road, where the target road is at least one of the plurality of branch roads.
In one possible example, in the determining of the ramp property of the current road according to the first high Cheng Chazi sequence and the second elevation difference subsequence, the first determining unit 303 is specifically configured to: determining that the ramp attribute of the current road is an ascending slope under the conditions that the height Cheng Chazhi of the first height Cheng Chazi sequence is larger than a first preset value; determining that the ramp attribute of the current road is a gentle upward slope under the conditions that the first high Cheng Chazi sequence is high Cheng Chazhi and less than the first preset value and greater than a second preset value; under the conditions that the height Cheng Chazhi of the second elevation difference subsequence is smaller than a third preset value and larger than a fourth preset value, determining that the ramp property of the current road is a downward gentle slope; determining that the ramp attribute of the current road is a downhill slope under the condition that the sum of the second elevation difference subsequences is smaller than the fourth preset value; and determining that the ramp property of the current road is a flat slope under the condition that the high Cheng Chazhi sum of the first high Cheng Chazi sequence is smaller than a second preset value and the high Cheng Chazhi sum of the second elevation difference subsequence is larger than the third preset value.
In one possible example, in the aspect of determining the target road from the map information of each of the plurality of branch roads and the ramp attribute of the current road, the second determining unit 304 is specifically configured to: determining the ramp attribute of each branch road according to the map information of each branch road; and determining the branch road with the same ramp attribute as the current road in the plurality of branch roads as a target road.
In one possible example, in the aspect of determining the target road from the map information of each of the plurality of branch roads and the ramp attribute of the current road, the second determining unit 304 is specifically configured to: determining branch roads with the same ramp attribute as the ramp attribute of the current road in the plurality of branch roads as alternative roads, wherein the elevation difference sequence comprises an elevation difference corresponding to the current vehicle position and an elevation difference corresponding to the vehicle position positioned in front of the current vehicle position; determining the next vehicle position as the current vehicle position, and deleting branch roads with different ramp attributes from the current road, wherein the ramp attributes are included in the alternative road; repeating the steps until the current vehicle position is out of the detection range; and determining at least one branch road in the candidate roads as a target road.
In one possible example, the determining the ramp attribute aspect of the current road according to the first high Cheng Chazi sequence and the second altitude difference subsequence, the first determining unit 303 is specifically configured to: acquiring a first distance between a vehicle position corresponding to a first elevation difference in the first high Cheng Chazi sequence and the preset sampling point; acquiring a second distance between a vehicle position corresponding to a first elevation difference in the second elevation difference subsequence and the preset sampling point; determining a first ramp attribute corresponding to the current road according to the first high Cheng Chazi sequence; determining a second ramp attribute corresponding to the current road according to the second elevation difference subsequence; and determining the ramp attributes of the current road according to the first distance, the second distance, the first ramp attribute and the second ramp attribute, wherein the current road comprises two ramps with different ramp attributes, and the ramp attributes of the two ramps with different ramp attributes are the first ramp attribute and the second ramp attribute respectively.
In one possible example, in terms of the sequential acquisition of the differences in elevation of the vehicle relative to the preset sampling points at a plurality of vehicle positions, the first acquisition unit 301 is specifically configured to: acquiring a first reading value of the barometer at the preset sampling point; acquiring a second reading of the barometer at each of the plurality of vehicle locations; and determining the elevation difference of the vehicle relative to the preset sampling point at each vehicle position according to the first reading value and the second reading value, and obtaining the elevation difference of the vehicle relative to the preset sampling point at a plurality of vehicle positions.
In one possible example, in terms of the sequential acquisition of the differences in elevation of the vehicle relative to the preset sampling points at a plurality of vehicle positions, the first acquisition unit 301 is specifically configured to: acquiring attitude information of the vehicle at each of a plurality of vehicle positions; acquiring the distance from the preset sampling point to each vehicle position; and determining the elevation difference of the vehicle relative to the preset sampling point at each vehicle position according to the attitude information and the distance, and obtaining the elevation difference of the vehicle at a plurality of vehicle positions relative to the preset sampling point respectively.
It can be understood that, since the method embodiment and the apparatus embodiment are different presentation forms of the same technical concept, the content of the method embodiment portion in the present application should be synchronously adapted to the apparatus embodiment portion, which is not described herein.
In the case of using an integrated unit, as shown in fig. 4, fig. 4 is a schematic structural view of another vehicle position determining apparatus provided in the embodiment of the present application. In fig. 4, the vehicle position determining apparatus 400 includes: a processing module 402 and a communication module 401. The processing module 402 is configured to control and manage actions of the vehicle position determination device, such as the steps of the first acquisition unit 301, the second acquisition unit 302, the first determination unit 303, and the second determination unit 304, and/or to perform other processes of the techniques described herein. The communication module 401 is used to support interactions between the vehicle position determining apparatus and other devices. As shown in fig. 4, the vehicle position determining apparatus may further include a storage module 403, the storage module 403 being configured to store program codes and data of the vehicle position determining apparatus.
The processing module 402 may be a processor or controller, such as a central processing unit (Central Processing Unit, CPU), a general purpose processor, a digital signal processor (Digital Signal Processor, DSP), an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules and circuits described in connection with this disclosure. The processor may also be a combination that performs the function of a computation, e.g., a combination comprising one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication module 401 may be a transceiver, an RF circuit, a communication interface, or the like. The memory module 403 may be a memory.
All relevant contents of each scenario related to the above method embodiment may be cited to the functional description of the corresponding functional module, which is not described herein. Both the vehicle position determining device 300 and the vehicle position determining device 400 described above may perform the vehicle position determining method shown in fig. 2a described above.
The above embodiments may be implemented in whole or in part by software, hardware, firmware, or any other combination. When implemented in software, the above-described embodiments may be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, the processes or functions described in accordance with embodiments of the present application are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center by wired or wireless means. The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more sets of available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. The semiconductor medium may be a solid state disk.
The embodiment of the application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program makes a computer execute part or all of the steps of any one of the above method embodiments, and the computer includes an electronic device.
Embodiments of the present application also provide a computer program product comprising a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform part or all of the steps of any one of the methods described in the method embodiments above. The computer program product may be a software installation package, said computer comprising an electronic device.
It should be understood that, in various embodiments of the present application, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application.
In the several embodiments provided in the present application, it should be understood that the disclosed method, apparatus and system may be implemented in other manners. For example, the device embodiments described above are merely illustrative; for example, the division of the units is only one logic function division, and other division modes can be adopted in actual implementation; for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may be physically included separately, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Although the present invention is disclosed above, the present invention is not limited thereto. Variations and modifications, including combinations of the different functions and implementation steps, as well as embodiments of the software and hardware, may be readily apparent to those skilled in the art without departing from the spirit and scope of the invention.
Claims (16)
1. A vehicle position determination method, characterized in that the method comprises the steps of:
after a vehicle passes through a preset sampling point of a current road, sequentially acquiring elevation differences of the vehicle at a plurality of vehicle positions relative to the preset sampling point to obtain an elevation difference sequence;
acquiring a first high Cheng Chazi sequence and a second high Cheng Chazi sequence, wherein the first high Cheng Chazi sequence is a high Cheng Chazhi and largest subsequence in all continuous subsequences included in the high Cheng Chazi sequence, and the second high Cheng Chazi sequence is a high Cheng Chazhi and smallest subsequence in all continuous subsequences included in the high Cheng Chazi sequence;
determining the ramp attribute of the current road according to the first high Cheng Chazi sequence and the second elevation difference subsequence;
and determining a target road according to the map information of each branch road in the plurality of branch roads and the ramp attribute of the current road, wherein the target road is at least one branch road in the plurality of branch roads.
2. The method of claim 1, the determining the ramp attribute of the current link from the first high Cheng Chazi sequence and the second elevation difference subsequence, comprising the steps of:
determining that the ramp attribute of the current road is an ascending slope under the conditions that the height Cheng Chazhi of the first height Cheng Chazi sequence is larger than a first preset value;
determining that the ramp attribute of the current road is a gentle upward slope under the conditions that the first high Cheng Chazi sequence is high Cheng Chazhi and less than the first preset value and greater than a second preset value;
under the conditions that the height Cheng Chazhi of the second elevation difference subsequence is smaller than a third preset value and larger than a fourth preset value, determining that the ramp property of the current road is a downward gentle slope;
determining that the ramp attribute of the current road is downhill when the height Cheng Chazhi of the second elevation difference subsequence is smaller than the fourth preset value;
and determining that the ramp property of the current road is a flat slope under the condition that the high Cheng Chazhi sum of the first high Cheng Chazi sequence is smaller than a second preset value and the high Cheng Chazhi sum of the second elevation difference subsequence is larger than the third preset value.
3. The method of claim 2, wherein the determining the target link according to the map information of each of the plurality of branch links and the ramp attribute of the current link comprises the steps of:
Determining the ramp attribute of each branch road according to the map information of each branch road;
and determining the branch road with the same ramp attribute as the current road in the plurality of branch roads as a target road.
4. The method of claim 2, wherein the determining the target link according to the map information of each of the plurality of branch links and the ramp attribute of the current link comprises the steps of:
determining branch roads with the same ramp attribute as the ramp attribute of the current road in the plurality of branch roads as alternative roads, wherein the elevation difference sequence comprises an elevation difference corresponding to the current vehicle position and an elevation difference corresponding to the vehicle position positioned in front of the current vehicle position;
determining the next vehicle position as the current vehicle position, and deleting branch roads with different ramp attributes from the current road, wherein the ramp attributes are included in the alternative road;
repeating the steps until the current vehicle position is out of the detection range;
and determining at least one branch road in the candidate roads as a target road.
5. The method of claim 2, the determining the ramp attribute of the current road from the first high Cheng Chazi sequence and the second elevation difference subsequence, comprising the steps of:
Acquiring a first distance between a vehicle position corresponding to a first elevation difference in the first high Cheng Chazi sequence and the preset sampling point;
acquiring a second distance between a vehicle position corresponding to a first elevation difference in the second elevation difference subsequence and the preset sampling point;
determining a first ramp attribute corresponding to the current road according to the first high Cheng Chazi sequence;
determining a second ramp attribute corresponding to the current road according to the second elevation difference subsequence;
and determining the ramp attributes of the current road according to the first distance, the second distance, the first ramp attribute and the second ramp attribute, wherein the current road comprises two ramps with different ramp attributes, and the ramp attributes of the two ramps with different ramp attributes are the first ramp attribute and the second ramp attribute respectively.
6. The method according to any one of claims 1-5, said sequentially obtaining the elevation differences of the vehicle relative to the preset sampling point at a plurality of vehicle positions, comprising the steps of:
acquiring a first reading value of the barometer at the preset sampling point;
acquiring a second reading of the barometer at each of the plurality of vehicle locations;
And determining the elevation difference of the vehicle relative to the preset sampling point at each vehicle position according to the first reading value and the second reading value, and obtaining the elevation difference of the vehicle relative to the preset sampling point at a plurality of vehicle positions.
7. The method according to any one of claims 1-5, said sequentially obtaining the elevation differences of the vehicle relative to the preset sampling point at a plurality of vehicle positions, comprising the steps of:
acquiring attitude information of the vehicle at each of a plurality of vehicle positions;
acquiring the distance from the preset sampling point to each vehicle position;
and determining the elevation difference of the vehicle relative to the preset sampling point at each vehicle position according to the attitude information and the distance, and obtaining the elevation difference of the vehicle at a plurality of vehicle positions relative to the preset sampling point respectively.
8. A vehicle position determining apparatus, characterized in that the apparatus comprises:
the first acquisition unit is used for sequentially acquiring the elevation differences of the vehicle at a plurality of vehicle positions relative to the preset sampling points after the vehicle passes through the preset sampling points of the current road to obtain an elevation difference sequence;
A second obtaining unit, configured to obtain a first high Cheng Chazi sequence and a second high Cheng Chazi sequence, where the first high Cheng Chazi sequence is a high Cheng Chazhi and largest subsequence among all continuous subsequences included in the high Cheng Chazi sequence, and the second high differential subsequence is a high Cheng Chazhi and smallest subsequence among all continuous subsequences included in the high differential sequence;
a first determining unit, configured to determine a ramp attribute of the current road according to the first high Cheng Chazi sequence and the second elevation difference subsequence;
and the second determining unit is used for determining a target road according to the map information of each branch road in the plurality of branch roads and the ramp attribute of the current road, wherein the target road is at least one branch road in the plurality of branch roads.
9. The apparatus of claim 8, the determining a ramp attribute of the current road according to the first sequence of elevations Cheng Chazi and the second sequence of elevation differences, the first determining unit to:
determining that the ramp attribute of the current road is an ascending slope under the conditions that the height Cheng Chazhi of the first height Cheng Chazi sequence is larger than a first preset value;
Determining that the ramp attribute of the current road is a gentle upward slope under the conditions that the first high Cheng Chazi sequence is high Cheng Chazhi and less than the first preset value and greater than a second preset value;
under the conditions that the height Cheng Chazhi of the second elevation difference subsequence is smaller than a third preset value and larger than a fourth preset value, determining that the ramp property of the current road is a downward gentle slope;
determining that the ramp attribute of the current road is a downhill slope under the condition that the sum of the second elevation difference subsequences is smaller than the fourth preset value;
and determining that the ramp property of the current road is a flat slope under the condition that the high Cheng Chazhi sum of the first high Cheng Chazi sequence is smaller than a second preset value and the high Cheng Chazhi sum of the second elevation difference subsequence is larger than the third preset value.
10. The apparatus of claim 9, the determining a target road according to map information of each of a plurality of branch roads and a ramp attribute of the current road, the second determining unit configured to:
determining the ramp attribute of each branch road according to the map information of each branch road;
and determining the branch road with the same ramp attribute as the current road in the plurality of branch roads as a target road.
11. The apparatus of claim 9, the determining a target road according to map information of each of a plurality of branch roads and a ramp attribute of the current road, the second determining unit configured to:
determining branch roads with the same ramp attribute as the ramp attribute of the current road in the plurality of branch roads as alternative roads, wherein the elevation difference sequence comprises an elevation difference corresponding to the current vehicle position and an elevation difference corresponding to the vehicle position positioned in front of the current vehicle position;
determining the next vehicle position as the current vehicle position, and deleting branch roads with different ramp attributes from the current road, wherein the ramp attributes are included in the alternative road;
repeating the steps until the current vehicle position is out of the detection range;
and determining at least one road in the candidate roads as a target road.
12. The apparatus of claim 9, the determining a ramp attribute of a current road according to the first sequence of elevations Cheng Chazi and the second sequence of elevation differences, the first determining unit to:
acquiring a first distance between a vehicle position corresponding to a first elevation difference in the first high Cheng Chazi sequence and the preset sampling point;
Acquiring a second distance between a vehicle position corresponding to a first elevation difference in the second elevation difference subsequence and the preset sampling point;
determining a first ramp attribute corresponding to the current road according to the first high Cheng Chazi sequence;
determining a second ramp attribute corresponding to the current road according to the second elevation difference subsequence;
and determining the ramp attributes of the current road according to the first distance, the second distance, the first ramp attribute and the second ramp attribute, wherein the current road comprises two ramps with different ramp attributes, and the ramp attributes of the two ramps with different ramp attributes are the first ramp attribute and the second ramp attribute respectively.
13. The apparatus according to any one of claims 8-12, said sequentially acquiring elevation differences of said vehicle with respect to said preset sampling point at a plurality of vehicle positions, said first acquiring unit being configured to:
acquiring a first reading value of the barometer at the preset sampling point;
acquiring a second reading of the barometer at each of the plurality of vehicle locations;
and determining the elevation difference of the vehicle relative to the preset sampling point at each vehicle position according to the first reading value and the second reading value, and obtaining the elevation difference of the vehicle at a plurality of vehicle positions relative to the preset sampling point respectively.
14. The apparatus according to any one of claims 8-12, said sequentially acquiring elevation differences of said vehicle with respect to said preset sampling point at a plurality of vehicle positions, said first acquiring unit being configured to:
acquiring attitude information of the vehicle at each of a plurality of vehicle positions;
acquiring the distance from the preset sampling point to each vehicle position;
and determining the elevation difference of the vehicle relative to the preset sampling point at each vehicle position according to the attitude information and the distance, and obtaining the elevation difference of the vehicle at a plurality of vehicle positions relative to the preset sampling point respectively.
15. An electronic device comprising a processor, a memory, and one or more programs stored in the memory and configured to be executed by the processor, the programs comprising instructions for performing the steps in the method of any of claims 1-7.
16. A computer-readable storage medium, characterized in that a computer program for electronic data exchange is stored, wherein the computer program causes a computer to perform the method according to any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011275366.1A CN114485687B (en) | 2020-11-13 | 2020-11-13 | Vehicle position determining method and related device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011275366.1A CN114485687B (en) | 2020-11-13 | 2020-11-13 | Vehicle position determining method and related device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114485687A CN114485687A (en) | 2022-05-13 |
| CN114485687B true CN114485687B (en) | 2023-09-26 |
Family
ID=81490612
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011275366.1A Active CN114485687B (en) | 2020-11-13 | 2020-11-13 | Vehicle position determining method and related device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114485687B (en) |
Citations (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10253373A (en) * | 1997-03-07 | 1998-09-25 | Pioneer Electron Corp | Navigator |
| JP2001280985A (en) * | 2000-03-29 | 2001-10-10 | Clarion Co Ltd | Automobile navigation system |
| JP2003194558A (en) * | 2001-12-26 | 2003-07-09 | Matsushita Electric Ind Co Ltd | Apparatus and method for detection of vehicle position |
| JP2004061155A (en) * | 2002-07-25 | 2004-02-26 | Aisin Aw Co Ltd | Road information estimating apparatus |
| CN1677059A (en) * | 2004-03-31 | 2005-10-05 | 株式会社电装 | Car navigation system |
| JP2005274187A (en) * | 2004-03-23 | 2005-10-06 | Xanavi Informatics Corp | Current position calculation method of navigation system |
| JP2006275619A (en) * | 2005-03-28 | 2006-10-12 | Clarion Co Ltd | Altitude calculation system and navigation system |
| WO2006126367A1 (en) * | 2005-05-25 | 2006-11-30 | Pioneer Corporation | Position setting device, position setting method, position setting program, and recording medium |
| KR20090038710A (en) * | 2007-10-16 | 2009-04-21 | 주식회사 케이티 | Road identification method using altitude and navigation device using same |
| JP2009236714A (en) * | 2008-03-27 | 2009-10-15 | Toyota Motor Corp | Gradient information calculation device, vehicle cruise controller, and navigation system |
| WO2010046165A1 (en) * | 2008-10-23 | 2010-04-29 | Robert Bosch Gmbh | Positioning device and positioning method |
| CN102012234A (en) * | 2009-09-04 | 2011-04-13 | 陈宗炜 | Vehicle navigation device |
| CN103323013A (en) * | 2012-03-19 | 2013-09-25 | 现代摩比斯株式会社 | Appratus and method for judgment 3 dimension |
| CN103335655A (en) * | 2013-05-29 | 2013-10-02 | 周眉 | Navigator and navigation method |
| JP2014130010A (en) * | 2012-12-27 | 2014-07-10 | Yupiteru Corp | System and program |
| CN106032985A (en) * | 2015-03-13 | 2016-10-19 | 厦门歌乐电子企业有限公司 | Vehicle positioning device |
| CN107367745A (en) * | 2016-05-12 | 2017-11-21 | 通用汽车环球科技运作有限责任公司 | It is related to the GLONASS vehicle location of overlapping road |
| CN107764274A (en) * | 2016-08-17 | 2018-03-06 | 厦门雅迅网络股份有限公司 | It is a kind of to differentiate whether vehicle travels the method in overpass |
| CN108195391A (en) * | 2018-01-29 | 2018-06-22 | 千寻位置网络有限公司 | Based on barometrical detection method on overhead or under overhead |
| CN110415545A (en) * | 2019-08-02 | 2019-11-05 | 辰芯科技有限公司 | A kind of lane location method, apparatus, electronic equipment and storage medium |
| CN110617824A (en) * | 2019-09-29 | 2019-12-27 | 百度在线网络技术（北京）有限公司 | Method, apparatus, device and medium for determining whether vehicle is on or off elevated road |
| CN111062320A (en) * | 2019-12-16 | 2020-04-24 | Oppo广东移动通信有限公司 | Viaduct bridge identification method and related product |
| CN111442775A (en) * | 2020-03-17 | 2020-07-24 | 北京百度网讯科技有限公司 | Road identification method and device, electronic equipment and readable storage medium |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI290214B (en) * | 2006-04-04 | 2007-11-21 | Mitac Int Corp | Method of modified navigation information map with discriminated function and the apparatus thereof |
| JP5155820B2 (en) * | 2008-10-30 | 2013-03-06 | トヨタ自動車株式会社 | Road information acquisition device |
-
2020
- 2020-11-13 CN CN202011275366.1A patent/CN114485687B/en active Active
Patent Citations (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10253373A (en) * | 1997-03-07 | 1998-09-25 | Pioneer Electron Corp | Navigator |
| JP2001280985A (en) * | 2000-03-29 | 2001-10-10 | Clarion Co Ltd | Automobile navigation system |
| JP2003194558A (en) * | 2001-12-26 | 2003-07-09 | Matsushita Electric Ind Co Ltd | Apparatus and method for detection of vehicle position |
| JP2004061155A (en) * | 2002-07-25 | 2004-02-26 | Aisin Aw Co Ltd | Road information estimating apparatus |
| JP2005274187A (en) * | 2004-03-23 | 2005-10-06 | Xanavi Informatics Corp | Current position calculation method of navigation system |
| CN1677059A (en) * | 2004-03-31 | 2005-10-05 | 株式会社电装 | Car navigation system |
| JP2006275619A (en) * | 2005-03-28 | 2006-10-12 | Clarion Co Ltd | Altitude calculation system and navigation system |
| WO2006126367A1 (en) * | 2005-05-25 | 2006-11-30 | Pioneer Corporation | Position setting device, position setting method, position setting program, and recording medium |
| KR20090038710A (en) * | 2007-10-16 | 2009-04-21 | 주식회사 케이티 | Road identification method using altitude and navigation device using same |
| JP2009236714A (en) * | 2008-03-27 | 2009-10-15 | Toyota Motor Corp | Gradient information calculation device, vehicle cruise controller, and navigation system |
| WO2010046165A1 (en) * | 2008-10-23 | 2010-04-29 | Robert Bosch Gmbh | Positioning device and positioning method |
| CN102012234A (en) * | 2009-09-04 | 2011-04-13 | 陈宗炜 | Vehicle navigation device |
| CN103323013A (en) * | 2012-03-19 | 2013-09-25 | 现代摩比斯株式会社 | Appratus and method for judgment 3 dimension |
| JP2014130010A (en) * | 2012-12-27 | 2014-07-10 | Yupiteru Corp | System and program |
| CN103335655A (en) * | 2013-05-29 | 2013-10-02 | 周眉 | Navigator and navigation method |
| CN106032985A (en) * | 2015-03-13 | 2016-10-19 | 厦门歌乐电子企业有限公司 | Vehicle positioning device |
| CN107367745A (en) * | 2016-05-12 | 2017-11-21 | 通用汽车环球科技运作有限责任公司 | It is related to the GLONASS vehicle location of overlapping road |
| CN107764274A (en) * | 2016-08-17 | 2018-03-06 | 厦门雅迅网络股份有限公司 | It is a kind of to differentiate whether vehicle travels the method in overpass |
| CN108195391A (en) * | 2018-01-29 | 2018-06-22 | 千寻位置网络有限公司 | Based on barometrical detection method on overhead or under overhead |
| CN110415545A (en) * | 2019-08-02 | 2019-11-05 | 辰芯科技有限公司 | A kind of lane location method, apparatus, electronic equipment and storage medium |
| CN110617824A (en) * | 2019-09-29 | 2019-12-27 | 百度在线网络技术（北京）有限公司 | Method, apparatus, device and medium for determining whether vehicle is on or off elevated road |
| CN111062320A (en) * | 2019-12-16 | 2020-04-24 | Oppo广东移动通信有限公司 | Viaduct bridge identification method and related product |
| CN111442775A (en) * | 2020-03-17 | 2020-07-24 | 北京百度网讯科技有限公司 | Road identification method and device, electronic equipment and readable storage medium |
Non-Patent Citations (2)
| Title |
|---|
| 张武义 等.高度信息在立交桥地图匹配中的应用.铁路计算机应用.2009,第18卷(第9期),38-40. * |
| 李云强.立体导航系统中高度数据获取与地图匹配.中国优秀硕士学位论文全文数据库 (信息科技辑).2009,(第11期),I136-797. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114485687A (en) | 2022-05-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110686686B (en) | System and method for map matching | |
| CN108303075B (en) | Track generation method and system | |
| US11205079B2 (en) | Determining position data | |
| JP5930920B2 (en) | Map generation server, map generation method, and map generation system | |
| CN113034566B (en) | High-precision map construction method and device, electronic equipment and storage medium | |
| CN113721599B (en) | Positioning method and positioning device | |
| CN103379619A (en) | Method and system for positioning | |
| JP6302848B2 (en) | Map generation system and map generation method | |
| KR101576424B1 (en) | Automatic calibration method of magnetometer for indoor positioning | |
| CN116403415B (en) | Lane-level road condition acquisition method, device, electronic device and storage medium | |
| CN107462242B (en) | Vehicle speed measuring method and device | |
| CN113758492A (en) | Map detection method and device | |
| CN114705214B (en) | Mileage track calculation method and device, storage medium and electronic equipment | |
| CN114485687B (en) | Vehicle position determining method and related device | |
| US20220090929A1 (en) | Information processing device and information processing system | |
| US11796342B2 (en) | Production of digital road maps by crowdsourcing | |
| US10930009B2 (en) | Geolocation system | |
| US11761773B2 (en) | Method and system for path reconstruction of periodically sampled geographical position data | |
| CN113848878B (en) | Construction Method of Indoor and Outdoor 3D Pedestrian Network Based on Crowdsource Data | |
| CN117075140A (en) | Dual-matching robust laser positioning method and system applied to dynamic environment | |
| CN113720341B (en) | Vehicle travel route generation method, system, computer device, and storage medium | |
| CN110967023A (en) | Vehicle positioning method and vehicle positioning device | |
| CN116184459A (en) | Positioning signal compensation method, system, electronic equipment and readable storage medium | |
| CN111464949B (en) | Position correction method and device, readable storage medium and electronic equipment | |
| CN113129438B (en) | Method and device for improving precision of lane line and readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: Room 3701, No. 866 East Changzhi Road, Hongkou District, Shanghai, 200000 Patentee after: Botai vehicle networking technology (Shanghai) Co.,Ltd. Country or region after: China Address before: 201821 room 208, building 4, No. 1411, Yecheng Road, Jiading Industrial Zone, Jiading District, Shanghai Patentee before: Botai vehicle networking technology (Shanghai) Co.,Ltd. Country or region before: China |
|
| CP03 | Change of name, title or address |