CN105489046B - A kind of vehicle positioning method based on motion triggers, car-mounted terminal and alignment system - Google Patents
A kind of vehicle positioning method based on motion triggers, car-mounted terminal and alignment system Download PDFInfo
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- CN105489046B CN105489046B CN201511030272.7A CN201511030272A CN105489046B CN 105489046 B CN105489046 B CN 105489046B CN 201511030272 A CN201511030272 A CN 201511030272A CN 105489046 B CN105489046 B CN 105489046B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
Abstract
The present invention provides a kind of vehicle positioning method based on motion triggers, and applied to Vehicle positioning system, the alignment system includes a plurality of locating base stations and at least one car-mounted terminal being arranged on vehicle, including：The motion sensor senses of the car-mounted terminal send interrupt signal to after the vehicle movement for carrying the car-mounted terminal；The car-mounted terminal controls communication module to send positioning signal according to the interrupt signal, so that the locating base station positions the position of the vehicle according to the positioning signal.Present invention employs the Low-power Technologies based on motion sensor, with reference to motion processing algorithms, reduce power consumption, and expanding can application range.
Description
Technical field
The invention belongs to intelligent transportation (Intelligent Transportation System, abbreviation ITS) field, tools
Body is related to a kind of vehicle positioning method based on motion triggers, car-mounted terminal and alignment system.
Background technology
Increasing with vehicle, and parking lot is limited to soil or other factors, the problem of parking difficulty, difficult parking, gets over
Come more apparent.In this case, curb parking, parking stall are searched, and reversely looking into the application such as vehicle, there have been these applications are required for
Use wireless location technology.
And wireless location technology at this stage is most based on car-mounted terminal, since the limitation of car-mounted terminal volume causes electricity
It is relatively low.And in practical application scene, positioning function and non real-time needs, but car-mounted terminal is real behind localization region of entering
When keep working condition cause electric quantity consumption too fast, seriously limit service life, cause system that can not adapt to plurality of application scenes.
The content of the invention
In view of this, the embodiment of the present invention provides a kind of vehicle positioning method based on motion triggers, intelligent control positioning
The function opening time reduces the duration, and reduces the power consumption of car-mounted terminal, improves positioning accuracy.
A kind of vehicle positioning method based on motion triggers, applied to Vehicle positioning system, the alignment system includes multiple
Several locating base stations and at least one car-mounted terminal being arranged on vehicle, method include：
The motion sensor senses of the car-mounted terminal change to the state of motion of vehicle for carrying the car-mounted terminal
Afterwards, interrupt signal is sent；
The car-mounted terminal controls communication module to send positioning signal according to the interrupt signal, so that the locating base station
The position of the vehicle is positioned according to the positioning signal.
Further, the car-mounted terminal is board units, and the communication module is UWB modules.
Further, the car-mounted terminal motion sensor senses to the vehicle movement shape for carrying the car-mounted terminal
After state changes, before sending interrupt signal step, further include：
Disable the receive capabilities of the communication module.
Further, the car-mounted terminal controls communication module to send positioning signal and be specially according to the interrupt signal：
Judge whether the interrupt signal is dither signal, if the interrupt signal is dither signal, abandon it is described in
Break signal；If the interrupt signal is not dither signal, wakes up the car-mounted terminal and enter working condition and control communication mould
Block sends positioning signal.
Further, judge whether the interrupt signal is that the specific method of dither signal is：
Judge whether the interrupt signal is more than pre-set threshold value, if more than equal to the pre-set threshold value, then judge it is described in
Break signal is not dither signal；If less than the pre-set threshold value, it is dither signal to judge the interrupt signal.
Further, motion sensor is stated as acceleration transducer, and state of motion of vehicle changes the vehicle for referring to measure
Speed changes, and the pre-set threshold value is more than or equal to 20mg/LSB, less than 150mg/LSB.
Further, the wake-up car-mounted terminal enters working condition and communication module is controlled to send positioning signal tool
Body is：
The car-mounted terminal is waken up to enter working condition and maintain preset time by preset rules；
The communication module is controlled continuously to emit multiple positioning signals in preset time.
Further, the preset rules are specially：
Interrupt signal is not received again by the first preset time if being interrupted after signal wakes up, described first it is default when
Between be preset time；
Interrupt signal is received again by the first preset time if being interrupted after signal wakes up, receives latter interrupt signal certainly
It rises and maintains the first preset time, if being received again by interrupt signal in latter first preset time, receive certainly in the last one
Break signal rises maintains the first preset time until not receiving interrupt signal, the preset time in the first preset time again
From being received the interrupt signal for waking up car-mounted terminal, until the last one first preset time terminates.
Further, it is described controlled in preset time the communication module continuously emit multiple positioning signal steps it
After further include：
Close the processor crystal oscillator of the car-mounted terminal, the transmitting correlation I/O interfaces of communication close module.
On the other hand, the present invention also provides a kind of car-mounted terminal based on motion triggers, including motion sensor and lead to
Believe module, wherein：After the motion sensor is for detecting the vehicle movement for carrying the car-mounted terminal, interruption letter is sent
Number；The communication module is used to send positioning signal according to the interrupt signal, so that locating base station is according to the positioning signal
Position the position of the vehicle.
In another aspect, the present invention also provides a kind of Vehicle positioning system based on motion triggers, including it is at least one such as
The upper car-mounted terminal, a plurality of locating base stations.
Using the above-mentioned Low-power Technology based on motion sensor, with reference to motion processing algorithms, power consumption is reduced, is expanded
It can application range.Further communication module uses UWB modules so that positioning accuracy can be existing aobvious compared with GPS, WIFI etc.
It writes and improves, up to 10CM.Further, the crystal oscillator for processor being closed in dormancy can further reduce car-mounted terminal
Power consumption.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention, for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of flow chart of the vehicle positioning method based on motion triggers provided in an embodiment of the present invention；
Fig. 2 is the flow chart of another vehicle positioning method based on motion triggers provided in an embodiment of the present invention；
Fig. 3 is a kind of module diagram of the car-mounted terminal based on motion triggers provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment belongs to the scope of protection of the invention.
Embodiment 1, a kind of vehicle positioning method based on motion triggers of the present invention as shown in Figure 1, applied to vehicle location
System, the alignment system include a plurality of being spaced the locating base station for being laid in localization region and at least one being arranged on vehicle
Car-mounted terminal, wherein car-mounted terminal includes motion sensor, communication module and processor, and method includes：
Step 101：The motion sensor senses of the car-mounted terminal are to the state of motion of vehicle for carrying the car-mounted terminal
After changing, interrupt signal is sent；
It is appreciated that car-mounted terminal in motion sensor be acceleration transducer, car-mounted terminal is arranged on vehicle,
When vehicle motion state variation when such as vehicle launch, stop or turn when, acceleration transducer can detect vehicle transport
Dynamic state changes and then generates an interrupt signal and be sent to the processor of car-mounted terminal.
Step 102：The car-mounted terminal controls communication module to send positioning signal according to the interrupt signal, so that described
Locating base station positions the position of the vehicle according to the positioning signal.
Specifically, whether the processor of car-mounted terminal judges the interrupt signal after receiving the interrupt signal as shown in Figure 2
For dither signal, if interrupt signal is dither signal, the interrupt signal is abandoned；If interrupt signal is not dither signal, call out
Awake processor enters working condition and communication module is controlled to send positioning signal.
It is further to judge whether interrupt signal is that the specific method of dither signal is to judge whether the interrupt signal is big
In pre-set threshold value, if more than equal to the pre-set threshold value, then it is not dither signal to judge the interrupt signal；If less than described pre-
If threshold values, then it is dither signal to judge the interrupt signal.Due in actual environment, the pre-set threshold value of acceleration transducer is difficult
The state of car-mounted terminal is shown in real time：Pre-set threshold value is set too low, can also be generated under easy false wake-up, i.e. static position
Interrupt signal is to car-mounted terminal；And if set excessively high, it is necessary to very big vibration, such as gets off tag removal could produce
Raw interrupt signal.Obvious too low pre-set threshold value or excessively high pre-set threshold value do not comply with actual application scenarios.Therefore originally
Preferred pre-set threshold value is more than or equal to 20mg/LSB in embodiment, less than 150mg/LSB, further, is adopted in the present embodiment
Pre-set threshold value is 46.87mg/LSB.
It needs what is illustrated, in order to ensure that the energy consumption of car-mounted terminal is relatively low, therefore further includes the disabling communication before step 1
The receive capabilities of module.
Wherein TDOA algorithms may be employed according to the position of positioning signal positioning vehicle in locating base station, TOA algorithms or refer to
Line positioning mode, above-mentioned algorithm are the prior art, are not specifically limited herein.
Using the above-mentioned Low-power Technology based on motion sensor, with reference to motion processing algorithms, power consumption is reduced, is expanded
It can application range.
Embodiment 2 wakes up the car-mounted terminal on the basis of embodiment 1, in the present embodiment and enters working condition and control
Communication module processed sends positioning signal：
The car-mounted terminal is waken up to enter working condition and maintain preset time by preset rules；
The communication module is controlled continuously to emit multiple positioning signals in preset time.
Wherein preset rules are not to be received again by interrupt signal in the first preset time if being interrupted after signal wakes up,
Then first preset time is preset time.
For example, the first preset time is 60S, and interrupt signal is not received again by 60S, is then being interrupted signal
Multiple positioning signals are continuously transmitted after wake-up in 60S.
Interrupt signal is received again by the first preset time if being interrupted after signal wakes up, receives latter interrupt signal certainly
It rises and maintains the first preset time, if being received again by interrupt signal in latter first preset time, receive certainly in the last one
Break signal rises maintains the first preset time until not receiving interrupt signal, the preset time in the first preset time again
From being received the interrupt signal for waking up car-mounted terminal, until the last one first preset time terminates.
For example, the first preset time is 60S, if in the 50S of first the first preset time is received again by
Break signal then extends 60S from the 50S of the first preset time, if being received again by within the 10th second interruption letter in extended 60S
Number, then it is lighted from the time and extends 60S again, if not receiving interrupt signal in extended 60S again, preset time is
50S+10S+60S=120S, processor control the communication module continuously to emit multiple positioning signals in 120S.
In other embodiments, since time interval between multiple positioning signals is identical, so preset time
Calculating can also be completed by counting the number of positioning signal, and e.g., the additional count information in positioning signal is being interrupted signal
It is 120 that count information is set after wake-up, emits every time -1 after positioning signal, when count information is 0, then illustrates preset time knot
Beam.Of course, when count information not yet returns 0, if being received again by interrupt signal, count information is once again set up as 120.This
In embodiment, emit time namely the first preset time of 120 positioning signals.
Readily comprehensible, count information is substantially also preset time.The length of preset time can be according to live actual
Situation is set, and is not specifically limited herein.
Further, after the preset lime, the processor crystal oscillator for closing the car-mounted terminal, communication close mould are further included
The communication correlation I/O interfaces of block.It is in running order to only have motion sensor in car-mounted terminal at this time, the work(of entire car-mounted terminal
Consumption can only have 5uA or so.
Embodiment 3, on the basis of embodiment 1 and embodiment 2, car-mounted terminal is electronic tag, and communication module is UWB moulds
Block.UWB modules close receive capabilities, and the mode of deep sleep, UWB module deep sleeps are kept outside preset time range
Power consumption under pattern only has 0.4uA.It further can effectively reduce power consumption.
Communication module uses UWB modules in the present embodiment so that positioning accuracy can be existing aobvious compared with GPS, WIFI etc.
It writes and improves, up to 10CM.Further, the crystal oscillator for processor being closed in dormancy can further reduce car-mounted terminal
Power consumption.
Embodiment 4 as shown in Figure 3 the invention also discloses a kind of car-mounted terminal 1 based on motion triggers, is passed including movement
Sensor 12, communication module 13 and processor 11, wherein：The motion sensor 12 carries the car-mounted terminal 1 for detecting
Vehicle movement after, send interrupt signal；The communication module 13 is used under the control of processor 11, is believed according to described interrupt
Number positioning signal is sent, so that locating base station positions the position of the vehicle according to the positioning signal.
Further, car-mounted terminal 1 is specially board units, and communication module 13 is UWB modules.
More specifically, the processor 11 includes judgment module and Postponement module, and the judgment module is used to judge institute
State whether interrupt signal is dither signal, if the interrupt signal is dither signal, abandon the interrupt signal；If in described
Break signal is not dither signal, then wakes up the board units and enter working condition and communication module is controlled to send positioning signal.
Postponement module enters working condition and by preset rules maintenance preset time for waking up the board units, in preset time
The communication module 13 is controlled continuously to emit multiple positioning signals.The wherein judgment mode of dither signal, preset rules and implementation
Example 1-3 is identical, and details are not described herein.
Processor 11 further includes closedown module, and closedown module is used to close the processing of board units at the end of preset time
The crystal oscillator of device, the communication correlation I/O interfaces of communication close module 13.
Embodiment 5, the invention also discloses a kind of Vehicle positioning system based on motion triggers, including it is at least one strictly according to the facts
Apply the board units described in example 4, a plurality of locating base stations.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related part is said referring to method part
It is bright.
Professional further appreciates that, with reference to each exemplary unit of the embodiments described herein description
And algorithm steps, can be realized with the combination of electronic hardware, computer software or the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is performed actually with hardware or software mode, specific application and design constraint depending on technical solution.Specialty
Technical staff can realize described function to each specific application using distinct methods, but this realization should not
Think beyond the scope of this invention.
It can directly be held with reference to the step of method or algorithm that the embodiments described herein describes with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use the present invention.
A variety of modifications of these embodiments will be apparent for those skilled in the art, it is as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and the principles and novel features disclosed herein phase one
The most wide scope caused.
Claims (9)
1. a kind of vehicle positioning method based on motion triggers, applied to Vehicle positioning system, the alignment system includes plural number
A locating base station and at least one car-mounted terminal being arranged on vehicle, which is characterized in that the described method includes：
After the motion sensor senses of the car-mounted terminal change to the state of motion of vehicle for carrying the car-mounted terminal, hair
Go out interrupt signal；
The car-mounted terminal according to the interrupt signal control communication module send positioning signal so that the locating base station according to
The positioning signal positions the position of the vehicle；
The car-mounted terminal controls communication module to send positioning signal according to the interrupt signal：
Judge whether the interrupt signal is dither signal, if the interrupt signal is dither signal, abandons described interrupt and believe
Number；If the interrupt signal is not dither signal, wakes up the car-mounted terminal and enter working condition and communication module is controlled to send out
Go out positioning signal；
The wake-up car-mounted terminal, which enters working condition and communication module is controlled to send positioning signal, is specially：
The car-mounted terminal is waken up to enter working condition and maintain preset time by preset rules；
The communication module is controlled continuously to emit multiple positioning signals in preset time.
2. vehicle positioning method according to claim 1, which is characterized in that the car-mounted terminal is board units, described
Communication module is UWB modules.
3. vehicle positioning method according to claim 1, which is characterized in that examined in the motion sensor of the car-mounted terminal
Measure carry the car-mounted terminal state of motion of vehicle change after, before sending interrupt signal step, further include：
Disable the receive capabilities of the communication module.
4. vehicle positioning method according to claim 1, which is characterized in that judge whether the interrupt signal is shake letter
Number specific method be：
Judge whether the interrupt signal is more than pre-set threshold value, if more than equal to the pre-set threshold value, then judge that described interrupt is believed
Number it is not dither signal；If less than the pre-set threshold value, it is dither signal to judge the interrupt signal.
5. vehicle positioning method according to claim 1, which is characterized in that the motion sensor is acceleration sensing
Device, the state of motion of vehicle car speed for referring to measure that changes change, and the pre-set threshold value is more than or equal to 20mg/
LSB, less than 150mg/LSB.
6. vehicle positioning method according to claim 1, which is characterized in that the preset rules are specially：
If being interrupted after signal wakes up and not being received again by interrupt signal in the first preset time, first preset time is
For preset time；
If being interrupted after signal wakes up and being received again by interrupt signal in the first preset time, tieed up from being received latter interrupt signal
The first preset time is held, if being received again by interrupt signal in latter first preset time, letter is interrupted from the last one is received
It number rises and to maintain the first preset time again until not receiving interrupt signal in the first preset time, the preset time is from receiving
It is risen to the interrupt signal for waking up car-mounted terminal, until the last one first preset time terminates.
7. vehicle positioning method according to claim 5, which is characterized in that described lead to is controlled in preset time described
Letter module further includes after continuously emitting multiple positioning signal steps：
The processor crystal oscillator of the car-mounted terminal is closed, closes the communication correlation I/O interfaces of the communication module.
8. a kind of car-mounted terminal based on motion triggers, which is characterized in that including motion sensor, communication module and processor,
Wherein：After the motion sensor is for detecting the vehicle movement for carrying the car-mounted terminal, interrupt signal is sent；It is described logical
Letter module is used to send positioning signal according to the interrupt signal, so that locating base station positions the vehicle according to the positioning signal
Position；
The processor includes judgment module and Postponement module, the judgment module for judge the interrupt signal whether be
Dither signal if the interrupt signal is dither signal, abandons the interrupt signal；If the interrupt signal is not shake letter
Number, then it wakes up the car-mounted terminal and enters working condition and communication module is controlled to send positioning signal；
The Postponement module enters working condition and by preset rules maintenance preset time for waking up the car-mounted terminal, pre-
If the control communication module continuously emits multiple positioning signals in the time.
9. a kind of Vehicle positioning system based on motion triggers, which is characterized in that including the vehicle described at least one claim 8
Mounted terminal, a plurality of locating base stations.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201511030272.7A CN105489046B (en) | 2015-12-31 | 2015-12-31 | A kind of vehicle positioning method based on motion triggers, car-mounted terminal and alignment system |
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| CN201511030272.7A CN105489046B (en) | 2015-12-31 | 2015-12-31 | A kind of vehicle positioning method based on motion triggers, car-mounted terminal and alignment system |
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| CN105489046B true CN105489046B (en) | 2018-05-22 |
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| CN109964515B (en) * | 2016-08-05 | 2022-04-15 | 昕诺飞控股有限公司 | Electronic beacon for a positioning system |
| CN106128145B (en) * | 2016-08-23 | 2019-03-05 | 深圳市金溢科技股份有限公司 | UWB electronic tag and its awakening method and vehicle positioning system |
| CN107367743B (en) * | 2017-07-18 | 2020-06-16 | 成都佳锂科技有限公司 | Power consumption control method of electronic positioning equipment |
| CN109559393A (en) * | 2017-09-27 | 2019-04-02 | 中国电信股份有限公司 | On board unit awakening method, device and vehicle carried electronic label device |
| CN112937742A (en) * | 2021-02-25 | 2021-06-11 | 上海七十迈数字科技有限公司 | Intelligent electric vehicle sleeping method and equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| TW200726194A (en) * | 2005-12-23 | 2007-07-01 | Kinpo Elect Inc | Power-saving device of a global positioning system (GPS) |
| CN101556735A (en) * | 2008-04-11 | 2009-10-14 | 郑波 | Vehicle collision automatic alarm system |
| CN102647454A (en) * | 2012-03-26 | 2012-08-22 | 常熟路车智能电子有限公司 | Mobile-heterogeneity full-duplex communication van networking system |
| CN104992573A (en) * | 2015-06-29 | 2015-10-21 | 深圳市金溢科技股份有限公司 | Vehicle unit positioning management method and system, vehicle unit and communication base station |
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