MAP MATCHING METHOD AND APPARATUS, AND ELECTRONIC DEVICE AND STORAGE MEDIUM

Provided are a map matching method and apparatus, an electronic device and a storage medium. the method comprises: acquiring initial positioning information of a vehicle and vehicle sensor data (601); determining a plurality of pieces of candidate positioning information on the basis of the initial positioning information (602); determining a plurality of observation semantic features on the basis of the vehicle sensor data (603); acquiring local map information on the basis of the initial positioning information of the vehicle, the local map information comprising a plurality of map semantic features (604); for each piece of candidate positioning information (605): converting the plurality of map semantic features into a coordinate system of the vehicle sensor on the basis of the candidate positioning information, so as to obtain a plurality of candidate map semantic features under the coordinate system (6051); and matching the plurality of observation semantic features with the plurality of candidate map semantic features, so as to obtain matching pairs (6052); and determining optimal candidate positioning information of the vehicle and a matching pair corresponding to the optimal candidate positioning information on the basis of matching pairs corresponding to each piece of candidate positioning information (606). The method is suitable for a vector semantic map, achieves real-time matching of observation features and map features by only using vector information of the vector semantic map, does not depend on additional data such as additional descriptors and intensity, and achieves a good matching effect on the basis of reducing storage requirements and computing power use.