CN106525033A - Running track determination method and device thereof - Google Patents
Running track determination method and device thereof Download PDFInfo
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- CN106525033A CN106525033A CN201610841603.3A CN201610841603A CN106525033A CN 106525033 A CN106525033 A CN 106525033A CN 201610841603 A CN201610841603 A CN 201610841603A CN 106525033 A CN106525033 A CN 106525033A
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- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a running track determination method, which comprises the following steps: a correction coordinate value and multiple historical position coordinate values of a vehicle; course angle and acceleration of the vehicle passing the correction coordinate point are determined according to the correction coordinate value and the multiple historical position coordinate values; based on the course angle and acceleration, measurement direction angle obtained by a gyroscope and measurement acceleration obtained by a gravity sensor in the running track determination device are respectively corrected so as to respectively obtain a target direction angle and target acceleration; according to the target acceleration, the target direction angle, speed of passing the last historical position near the current position time and coordinate of the last historical position near the current position time, coordinate value of the vehicle's the current position is determined; and according to the coordinate of the current position and the coordinate of multiple historical positions, running track of the vehicle is determined. According to the invention, running track of the vehicle is determined, and traffic accidents can be effectively prevented.
Description
Technical field
The present invention relates to traffic safety early warning field, and in particular to a kind of determination method and device of wheelpath.
Background technology
In the routine work life of people, automobile has become a kind of indispensable vehicles.But traffic accident
Give people to cause property loss or personal injury, or even life danger, therefore traffic safety early warning has become people pass
The emphasis of note.
Key technology in traffic safety early warning is the determination of wheelpath.At present, determine the usual way of wheelpath
It is to continuously acquire vehicle location coordinate information by global positioning system (Global Positioning System, GPS) to come true
Determine the travel track of vehicle.But due to the frequency relatively low (1HZ) of the location coordinate information that GPS is obtained, and easily it is subject to week
The impact of surrounding environment, may cannot obtain positional information for a long time, it is impossible to meet and determine that vehicle treats driving trace demand.It is arranged on
The frequency that gyroscope on vehicle and gravity sensor obtain position coordinates is high, but as the gyroscope and gravity sensor are surveyed
There is error in the data for obtaining, therefore the vehicle determined by the coordinate that there is error treats that driving trace is also inaccurate.
The content of the invention
The embodiment of the invention discloses a kind of determination method of wheelpath and its device, can precisely determine treating for vehicle
Driving trace, so that effectively prevent the generation of traffic accident.
Embodiment of the present invention first aspect provides a kind of determination method of wheelpath, including：
Obtain the amendment coordinate value and multiple historical position coordinate values of vehicle；
Determine vehicle by correcting the traveling side of coordinate points according to the amendment coordinate value and multiple historical position coordinate values
To angle and traveling acceleration；
Based on the direct of travel angle, correct what is obtained by the gyroscope measurement in the determining device of the wheelpath
Measurement direction angle, to obtain target direction angle；Based on the traveling acceleration, amendment is by the gravity sensor in described device
The measurement acceleration that measurement is obtained, to obtain aimed acceleration；
According to the aimed acceleration, target direction angle, by previous historical position adjacent with the current location moment
The coordinate value of speed and the previous historical position adjacent with the current location moment is determining current vehicle position coordinate value；
The rail to be travelled of vehicle is determined according to the coordinate value of the current location and the coordinate value of the plurality of historical position
Mark.
Embodiment of the present invention second aspect provides a kind of determining device of wheelpath, including：
Acquisition module, for obtaining the amendment coordinate value and multiple historical position coordinate values of vehicle；
First determining module, for determining vehicle by repairing according to the amendment coordinate value and multiple historical position coordinate values
The direct of travel angle of positive coordinate point and traveling acceleration；
First correcting module, based on the direct of travel angle, corrects the gyroscope in the determining device of the wheelpath
The measurement direction angle that measurement is obtained, to obtain target direction angle；
Second correcting module, based on the traveling acceleration, amendment is obtained by the gravity sensor measurement in described device
The measurement acceleration for obtaining, to obtain aimed acceleration；
Second determining module, for according to the aimed acceleration, target direction angle, by adjacent with the current location moment
The coordinate value of the speed of previous historical position and the previous historical position adjacent with the current location moment is determining vehicle
Current location coordinate value；
3rd determining module, the coordinate value for the coordinate value according to the current location and the plurality of historical position are true
That determines vehicle treats driving trace.
As can be seen that in the scheme of the embodiment of the present invention, first, by the direct of travel angle of vehicle, to correct gyro
The measurement direction angle that instrument measurement is obtained, to obtain target direction angle；By the traveling acceleration of the vehicle, to correct gravity biography
The measurement acceleration that sensor measurement is obtained, to obtain aimed acceleration.Secondly, obtained by target direction angle and aimed acceleration
The accurate coordinate value of current vehicle position, finally, by the accurate seat of the accurate coordinate value and multiple historical positions of current location
What scale value determined vehicle treats driving trace.It can be seen that, compared to prior art, this programme is measured to gyroscope and gravity sensor
The measurement direction angle and measurement acceleration that measurement is obtained is modified respectively, treats driving trace so as to obtain accurate vehicle, because
This can effectively prevent the generation of traffic accident.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of determination method flow schematic diagram of wheelpath disclosed in the embodiment of the present invention；
Fig. 2 is the determination method flow schematic diagram of another kind of wheelpath disclosed in the embodiment of the present invention；
Fig. 3 is a kind of determination schematic device of wheelpath disclosed in the embodiment of the present invention；
Fig. 4 is a kind of determining device partial schematic diagram of wheelpath disclosed in the embodiment of the present invention；
Fig. 5 is that the determining device of another kind of wheelpath disclosed in the embodiment of the present invention shows that part is intended to；
Fig. 6 is the determination schematic device of another kind of wheelpath disclosed in the embodiment of the present invention.
Specific embodiment
The determination method and device of wheelpath provided in an embodiment of the present invention, to determining that vehicle treats wheelpath,
And then the more preferably generation of prevention traffic accident.
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, is clearly and completely described to the technical scheme in the embodiment of the present invention, it is clear that described embodiment is only
The embodiment of a part of the invention, rather than the embodiment of whole.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment obtained under the premise of creative work is not made by member, should all belong to the model of present invention protection
Enclose.
It is described in detail individually below.
Term " first ", " second ", " the 3rd " in description and claims of this specification and above-mentioned accompanying drawing and "
Four " it is etc. for distinguishing different objects, rather than for describing particular order.Additionally, term " comprising " and " having " and it
Any deformation, it is intended that cover and non-exclusive include.For example contain the process of series of steps or unit, method, be
System, product or equipment are not limited to the step of listing or unit, but alternatively also include the step of not listing or list
Unit, or alternatively also include other intrinsic for these processes, method, product or equipment step or unit.
Fig. 1 is referred to, Fig. 1 is a kind of determination method flow schematic diagram of wheelpath disclosed in the embodiment of the present invention.Such as
Shown in Fig. 1, a kind of determination method of wheelpath that one embodiment of the present of invention is provided can include：
101st, the determining device of wheelpath obtains the amendment coordinate value and multiple historical position coordinate values of vehicle.
Wherein, above-mentioned vehicle amendment coordinate value is the GPS device or other positioning in the determining device by wheelpath
Equipment (such as dipper system location equipment, Galileo system location equipment, glonass system location equipment) is obtained.It is above-mentioned
Coordinate value is, for example, the value, or latitude and longitude value that km is unit.If above-mentioned coordinate value is latitude and longitude value, above-mentioned wheelpath
Determining device latitude and longitude value can be scaled the value in units of km.
Wherein, the determining device of above-mentioned wheelpath is just to obtain an above-mentioned vehicle amendment coordinate value at interval of time T.
Above-mentioned time T can be 1s, may also be 2s or other values.
It is appreciated that the determining device of above-mentioned wheelpath is after time T obtains an above-mentioned vehicle amendment coordinate value,
The measurement direction angle and measurement acceleration for just obtaining to the gyroscope in said apparatus and gravity sensor measurement carries out one respectively
Secondary amendment.
Wherein, the coordinate value of above-mentioned multiple historical positions is stored in the local cache of the determining device of above-mentioned wheelpath
In, it is also possible to it is stored in the webserver.
Wherein, the coordinate value of the plurality of historical position is the step in the determination method by above-mentioned wheelpath of the invention
Rapid 101 determine what is obtained to step 104.
Optionally, the coordinate value of above-mentioned multiple historical positions is the coordinate value of the historical position in preset period of time.It is above-mentioned pre-
If the terminal node of period is present system time, start node is to obtain car most close with current position coordinates in time
Amendment coordinate points moment.
Above-mentioned multiple historical positions can be all coordinate points in the above-mentioned time period, or partial coordinates point.On
State partial coordinates point can be discontinuous coordinate points of part continuous coordinate points, or part in all coordinate points or other
The coordinate points of form.
102nd, the determining device of wheelpath determines vehicle according to the amendment coordinate value and multiple historical position coordinate values
By correcting direct of travel angle and the traveling acceleration of coordinate points.
Wherein, above-mentioned traveling acceleration is by previous history adjacent with the above-mentioned current position coordinates moment according to vehicle
The distance between speed, the current position coordinates during coordinate of position and accurate coordinate of above-mentioned historical position and vehicle are by upper
State time of distance determine to.Such as, it is assumed that above-mentioned traveling acceleration is a, and above-mentioned speed is v0, above-mentioned distance be s and
The above-mentioned time is t, according to equation s=v0t+at2Can determine traveling acceleration a.
Above-mentioned direct of travel angle is determined by the accurate coordinate of above-mentioned current position coordinates and above-mentioned historical position.
Concrete methods of realizing is the common knowledge of those skilled in the art, be will not be described here.
103rd, the determining device of wheelpath is based on the direct of travel angle, corrects in the determining device of the wheelpath
Gyroscope measurement obtain measurement direction angle, to obtain target direction angle；Based on the traveling acceleration, amendment is by described
The measurement acceleration that gravity sensor measurement in device is obtained, to obtain aimed acceleration；.
Optionally, above-mentioned based on the direct of travel angle, the gyroscope corrected in the determining device of the wheelpath is surveyed
The measurement direction angle that amount is obtained, with the specific implementation for obtaining target direction angle be：
According to the direct of travel angle, Kalman filtering is carried out to the measurement direction angle that the gyroscope is obtained；
When the error amount of deflection is less than or equal to preset value after the filtering, then using the filtered deflection as institute
State target direction angle.
Wherein, above-mentioned error amount is that front adjacent with this filtered time instant in this filtered measurement direction angle is once filtered
Difference between the above-mentioned target direction angle obtained after ripple.
Optionally, above-mentioned preset value can be 0.01 degree, 0.02 degree, 0.05 degree, 0.1 degree, 0.15 degree, 0.2 degree or 0.5 degree or
Other values.Preferably, the preset range is between 0-0.2 degree.
Further, above-mentioned preset value also appropriate according to different scenes can be decreased or increased, its concrete value this
Bright embodiment is not limited.Such as, in the case where vehicle condition is complex, above-mentioned preset value can be reduced, and then is obtained more
Wheelpath is treated accurately；In the case where vehicle condition is thus relatively uncomplicated, above-mentioned preset value can be increased, and then quickly can be obtained
Treat wheelpath.
Wherein, above-mentioned Kalman filtering is common knowledge for a person skilled in the art, and concrete filtering here is just
Do not repeat.
Optionally, above-mentioned based on the traveling acceleration, amendment is obtained by the gravity sensor measurement in described device
Measurement acceleration, with the specific implementation for obtaining aimed acceleration be：
The gravity sensor is measured the measurement acceleration for obtaining and is multiplied by correction factor, accelerated with obtaining the target
Degree.
Wherein, above-mentioned correction factor be by the determining device of above-mentioned wheelpath obtain vehicle amendment coordinate value with it is multiple
The traveling acceleration that historical position coordinate value determines is obtained with gravity sensor measurement above-mentioned when above-mentioned amendment coordinate value is obtained
Measurement acceleration ratio.
104th, the determining device of wheelpath according to the aimed acceleration, target direction angle, by with current location when
The coordinate value for carving the speed and the previous historical position adjacent with the current location moment of adjacent previous historical position comes true
Determine current vehicle position coordinate value.
Wherein, above-mentioned aimed acceleration is the measurement acceleration that the gravity sensor measurement after being corrected is obtained；Above-mentioned mesh
Mark deflection is the measurement direction angle that the gyroscope measurement after being corrected is obtained；Above-mentioned speed is vehicle in above-mentioned previous history
The speed of the coordinate points of position.
By above-mentioned aimed acceleration, above-mentioned speed and time, previous go through adjacent with the current location moment is can determine
The relative distance of history position coordinates and current position coordinates.Such as, it is assumed that above-mentioned aimed acceleration is a, and above-mentioned speed is v0, on
It is t to state the time and relative distance is s, according to equation s=v0t+at2Can determine relative distance s.Wherein, the above-mentioned time is vehicle
The time needed for current position coordinates this segment distances is reached by the coordinate points of above-mentioned previous historical position.
It is appreciated that with the coordinate points of above-mentioned previous historical position as starting point, according to above-mentioned relative distance and above-mentioned mesh
Mark deflection can determine the coordinate value of current location.
The determining device of above-mentioned wheelpath stores the coordinate value of above-mentioned current location in its local cache, it is also possible to
Store in the webserver.
105th, the seat of coordinate value and the plurality of historical position of the determining device of wheelpath according to the current location
What scale value determined vehicle treats driving trace.
Wherein, to above-mentioned current location accurate coordinate value and the accurate coordinate value of above-mentioned multiple historical positions carries out multinomial
Formula is fitted, and determines the driving trace of vehicle using the multinomial that obtains of fitting.
Wherein, the polynomial number of times is 2 times -5 times.
Above-mentioned polynomial number of times refers to the number of times of highest monomial in multinomial.Such as, multinomial is ax2+ bx+c, then
Its number of times is 2 times, if multinomial for ax3+bx2+ cx+d, then its number of times is 3 times, by that analogy.Wherein a, b, c, d are constants.
Preferably, above-mentioned polynomial number of times is 2 times or 3 times.
Below the fitting of a polynomial process is described in detail:
The accurate coordinate value and current position coordinates for assuming known 2 historical positions is respectively (xt-2,yt-2), (xt-1,
yt-1), (xt,yt).Wherein xt-2,xt-1,xtThe existence function relation between time t；yt-2,yt-1,ytThere is letter between time t
Number relation.Fitting of a polynomial process is just to determine the process of described functional relation.
Wherein, subscript t, t-1 of above-mentioned coordinate value and t-2 represent above three coordinate when to engrave be adjacent.
X is determined firstt-2,xt-1,xtThe functional relation existed between time t, i.e. the first polynomial fitting.
Hypothesis functional relation is xt=at2+ bt+c, by xt-2,xt-1,xtCan with corresponding time t-2, t-1 and t
To obtain coefficient a, the value of b, c, and then determine the functional relation.
Secondly in the same manner, it may be determined that yt-2,yt-1,ytThere is second function relational expression between time t, i.e., the second fitting is more
Item formula.
Finally by above-mentioned first polynomial fitting and above-mentioned second polynomial fitting and corresponding time t+1, car is determined
The coordinate value being located at the t+1 moment.The rest may be inferred, it becomes possible to which determine vehicle treats driving trace.
As can be seen that in the scheme of the embodiment of the present invention, first, by the direct of travel angle of vehicle, to correct gyro
The measurement direction angle that instrument measurement is obtained, to obtain target direction angle；By the traveling acceleration of the vehicle, to correct gravity biography
The measurement acceleration that sensor measurement is obtained, to obtain aimed acceleration.Secondly, obtained by target direction angle and aimed acceleration
The accurate coordinate value of current vehicle position, finally, by the accurate seat of the accurate coordinate value and multiple historical positions of current location
What scale value determined vehicle treats driving trace.It can be seen that, compared to prior art, this programme is measured to gyroscope and gravity sensor
The measurement direction angle and measurement acceleration that measurement is obtained is modified respectively, treats driving trace so as to obtain accurate vehicle, because
This can effectively prevent the generation of traffic accident.
It should be noted that in the case where no gps signal or gps signal are weak (such as underground parking or interior
Parking lot), it is also possible to determine vehicle treats driving trace.Vehicle underground parking treat driving trace determine detailed process such as
Under：
Fig. 2 is referred to, Fig. 2 is the determination method flow schematic diagram of another kind of wheelpath disclosed in the embodiment of the present invention.
As shown in Fig. 2 the determination method of another kind of wheelpath of one embodiment of the present of invention offer, can include：
201st, the determining device of wheelpath obtains direct of travel angle, traveling acceleration and multiple historical positions seat of vehicle
Scale value.
Above-mentioned direct of travel angle and traveling acceleration be vehicle before into underground parking by the determination of wheelpath
What the amendment coordinate value and above-mentioned multiple historical position coordinate values that the GPS module in device is obtained determined, concrete determination process ginseng
The step of seeing method described in Fig. 1 102.
Wherein, the coordinate value of above-mentioned multiple historical positions is stored in the local cache of the determining device of above-mentioned wheelpath
In, it is also possible to it is stored in the webserver.
Wherein, the coordinate value of above-mentioned multiple historical positions be by described in Fig. 1 the step of method 101 to step 104 it is true
Surely obtain.Detailed process will not be described here referring to the determination method of above-mentioned wheelpath.
Optionally, the coordinate value of above-mentioned multiple historical positions is the coordinate value of the historical position in preset period of time.It is above-mentioned pre-
If the terminal node of period is present system time, start node is moment of the above-mentioned vehicle by above-mentioned amendment coordinate points.
Above-mentioned multiple historical positions can be all coordinate points in the above-mentioned time period, or partial coordinates point.On
State partial coordinates point can be discontinuous coordinate points of part continuous coordinate points, or part in all coordinate points or other
The coordinate points of form.
202nd, the determining device of wheelpath obtains aimed acceleration and target direction angle.
Wherein, above-mentioned aimed acceleration is that measurement acceleration that the gravity sensor measurement in said apparatus is obtained is multiplied by and repaiies
The numerical value that positive coefficient is obtained；Above-mentioned target direction angle is that the gyroscope in said apparatus measures the measurement direction angle for obtaining by card
What Kalman Filtering was obtained, detailed process is referring to 103 the step of method, will not be described here described in Fig. 1.
203rd, historical position coordinate of the determining device of wheelpath according to obtaining, speed, the aimed acceleration
With the target direction angle, current vehicle position coordinate is determined.
Wherein, above-mentioned speed be vehicle by with current location when engrave the coordinate points of adjacent previous historical position
Speed.
By above-mentioned aimed acceleration, above-mentioned speed and time, can determine with above-mentioned previous historical position coordinate with
The relative distance of current position coordinates.Such as, it is assumed that above-mentioned aimed acceleration is a, and above-mentioned speed is v0, the above-mentioned time be t and
Relative distance is s, according to equation s=v0t+at2Can determine relative distance s.Wherein, the above-mentioned time is vehicle by before above-mentioned
The coordinate points of one historical position reach the time needed for current position coordinates this segment distances.
It is appreciated that with the coordinate points of above-mentioned previous historical position as starting point, according to above-mentioned relative distance and above-mentioned mesh
Mark deflection can determine the coordinate value of current location.
The determining device of above-mentioned wheelpath stores the coordinate value of above-mentioned current location in its local cache, it is also possible to
Store in the webserver.
204th, the seat of coordinate value and the plurality of historical position of the determining device of wheelpath according to the current location
What scale value determined vehicle treats driving trace.
Wherein, to above-mentioned current location accurate coordinate value and the accurate coordinate value of above-mentioned multiple historical positions carries out multinomial
Formula is fitted, and determines the driving trace of vehicle using the multinomial that obtains of fitting.
Wherein, the polynomial number of times is 2 times -5 times.
Above-mentioned polynomial number of times is the number of times of highest monomial in multinomial.Such as, multinomial is ax2+ bx+c, then it is secondary
Number is 2 times, if multinomial for ax3+bx2+ cx+d, then number of times is 3 times, by that analogy.Wherein a, b, c, d are constants.
Preferably, above-mentioned polynomial number of times is 2 times or 3 times.
It is appreciated that fitting of a polynomial process and treating that driving trace can refer to according to what above-mentioned polynomial fitting determined vehicle
Described step 105 in said method is implemented, and which implements the phase that process is referred in said method embodiment
Close description.
As can be seen that in the scheme of the embodiment of the present invention, first, by the direct of travel angle of vehicle, to correct gyro
The measurement direction angle that instrument measurement is obtained, to obtain target direction angle；By the traveling acceleration of the vehicle, to correct gravity biography
The measurement acceleration that sensor measurement is obtained, to obtain aimed acceleration.Secondly, obtained by target direction angle and aimed acceleration
The accurate coordinate value of current vehicle position, finally, by the accurate seat of the accurate coordinate value and multiple historical positions of current location
What scale value determined vehicle treats driving trace.It can be seen that, compared to prior art, in the case where no gps signal or gps signal are weak
(such as parking garage and underground parking), it is also possible to which accurately obtain vehicle treats driving trace, therefore, it is possible to effectively pre-
The generation of anti-traffic accident.
For the ease of the such scheme for preferably implementing the embodiment of the present invention, it is also provided below for implementing such scheme
Device.
Referring to Fig. 3, a kind of determining device 200 of wheelpath provided in an embodiment of the present invention, including：
Acquisition module 301, for obtaining the amendment coordinate value and multiple historical position coordinate values of vehicle.
Wherein, above-mentioned vehicle amendment coordinate value is the GPS module or other positioning in the determining device by wheelpath
Equipment (such as dipper system location equipment, Galileo system location equipment, glonass system location equipment) is obtained.It is above-mentioned
Coordinate value is, for example, the value, or latitude and longitude value that km is unit.If above-mentioned coordinate value is latitude and longitude value, above-mentioned wheelpath
Determining device latitude and longitude value can be scaled the value in units of km.
Wherein, the determining device of above-mentioned wheelpath is just to obtain an above-mentioned vehicle amendment coordinate value at interval of time T.
Above-mentioned time T can be 1s, may also be 2s or other values.
It is appreciated that the determining device of above-mentioned wheelpath is after time T obtains an above-mentioned vehicle amendment coordinate value,
The measurement direction angle and measurement acceleration for just obtaining to the gyroscope in said apparatus and gravity sensor measurement carries out one respectively
Secondary amendment.
Wherein, the coordinate value of above-mentioned multiple historical positions is stored in the local cache of the determining device of above-mentioned wheelpath
In, it is also possible to it is stored in the webserver.
Wherein, the coordinate value of the plurality of historical position is the step in the determination method by above-mentioned wheelpath of the invention
Rapid 101 determine what is obtained to step 104.
Optionally, the coordinate value of above-mentioned multiple historical positions is the coordinate value of the historical position in preset period of time.It is above-mentioned pre-
If the terminal node of period is present system time, start node is to obtain car most close with current position coordinates in time
Amendment coordinate points moment.
Above-mentioned multiple historical positions can be all coordinate points in the above-mentioned time period, or partial coordinates point.On
State partial coordinates point can be discontinuous coordinate points of part continuous coordinate points, or part in all coordinate points or other
The coordinate points of form.
According to the amendment coordinate value and multiple historical position coordinate values, first determining module 302, for determining that vehicle leads to
Cross direct of travel angle and the traveling acceleration of amendment coordinate points.
Wherein, above-mentioned traveling acceleration is by previous history adjacent with the above-mentioned current position coordinates moment according to vehicle
The distance between speed, the current position coordinates during coordinate of position and accurate coordinate of above-mentioned historical position and vehicle are by upper
State time of distance determine to.Such as, it is assumed that above-mentioned traveling acceleration is a, and above-mentioned speed is v0, above-mentioned distance be s and
The above-mentioned time is t, according to equation s=v0t+at2Can determine traveling acceleration a.
Contra of the above-mentioned direct of travel angle by the current position coordinates with the historical position coordinate always determines.
First correcting module 303, based on the direct of travel angle, corrects the gyro in the determining device of the wheelpath
The measurement direction angle that instrument measurement is obtained, to obtain target direction angle.
Wherein, the determining device partial schematic diagram of a kind of wheelpath disclosed in the embodiment of the present invention shown in Figure 4.
First correcting module 303, including：
First module 3031, for according to the direct of travel angle, carrying out to the measurement direction angle that the gyroscope is obtained
Kalman filtering.
Wherein, above-mentioned Kalman filtering is common knowledge to one skilled in the art, be will not be described here.
Second unit 3032, for deflection after the filtering error amount be less than or equal to preset value when, then by the filter
Deflection after ripple is used as the target direction angle.
Optionally, above-mentioned preset value can be 0.01 degree, 0.02 degree, 0.05 degree, 0.1 degree, 0.15 degree, 0.2 degree or 0.5 degree or
Other values.Preferably, above-mentioned preset range is between 0-0.2 degree.
Further, above-mentioned preset value also appropriate according to different scenes can be decreased or increased, its concrete value this
Bright embodiment is not limited.Such as, in the case where vehicle condition is complex, above-mentioned preset value can be reduced, and then is obtained more
Wheelpath is treated accurately；In the case where vehicle condition is thus relatively uncomplicated, above-mentioned preset value can be increased, and then quickly can be obtained
Treat wheelpath.
Second correcting module 304, based on the traveling acceleration, amendment is by the gravity sensor measurement in described device
The measurement acceleration of acquisition, to obtain aimed acceleration.
Optionally, above-mentioned based on the traveling acceleration, amendment is obtained by the gravity sensor measurement in described device
Measurement acceleration, with the specific implementation for obtaining aimed acceleration be：
The gravity sensor is measured the measurement acceleration for obtaining and is multiplied by correction factor, accelerated with obtaining the target
Degree.
Wherein, above-mentioned correction factor be by the determining device of above-mentioned wheelpath obtain vehicle amendment coordinate value with it is multiple
The traveling acceleration that historical position coordinate value determines is obtained with gravity sensor measurement above-mentioned when above-mentioned amendment coordinate value is obtained
Measurement acceleration ratio.
Second determining module 305, for according to the aimed acceleration, target direction angle, by with the current location moment
The coordinate value of the speed of adjacent previous historical position and the previous historical position adjacent with the current location moment is determining
Current vehicle position coordinate value.
Wherein, above-mentioned aimed acceleration is the measurement acceleration that the gravity sensor measurement after being corrected is obtained；Above-mentioned mesh
Mark deflection is the measurement direction angle that the gyroscope measurement after being corrected is obtained；Above-mentioned speed is vehicle previous to be gone through above-mentioned
The speed of the coordinate points of history position.
By above-mentioned aimed acceleration, above-mentioned speed and time, previous go through adjacent with the current location moment is can determine
The relative distance of history position coordinates and current position coordinates.Such as, it is assumed that above-mentioned aimed acceleration is a, and above-mentioned speed is v0, on
It is t to state the time and relative distance is s, according to equation s=v0t+at2Can determine relative distance s.Wherein, the time is vehicle
The time needed for current position coordinates this segment distances is reached by the coordinate points of the previous historical position.
It is appreciated that with the coordinate points of above-mentioned previous historical position as starting point, according to above-mentioned relative distance and above-mentioned mesh
Mark deflection can determine the coordinate value of current location.
The determining device of above-mentioned wheelpath stores the coordinate value of above-mentioned current location in its local cache, it is also possible to
Store in the webserver.
3rd determining module 306, for the coordinate value according to the current location and the coordinate of the plurality of historical position
Value determines that vehicle treats driving trace.
Wherein, disclosed in the embodiment of the present invention shown in Figure 4, the determining device part of another kind of wheelpath is illustrated
Figure.3rd determining module 206, including：
3rd unit 3061, the coordinate value for the coordinate value to the current location and the plurality of historical position are carried out
Fitting of a polynomial, to obtain polynomial fitting.
Wherein, the number of times of above-mentioned polynomial fitting is 2 times -5 times.
Above-mentioned number of times is the highest index of known variables in multinomial.Such as, multinomial is ax2+ bx+c, then number of times is 2
It is secondary, if multinomial for ax3+bx2+ cx+d, then number of times is 3 times, by that analogy.Wherein a, b, c, d are constants.
Preferably, above-mentioned polynomial number of times is 2 times or 3 times.
4th unit 3062, treats driving trace for determine vehicle according to the polynomial fitting.
Wherein, above-mentioned polynomial fitting is the coordinate of current location and the coordinate of multiple historical positions and the letter between the time
Number relational expression.
It is appreciated that fitting of a polynomial process and treating that driving trace can refer to according to what above-mentioned polynomial fitting determined vehicle
Above-mentioned steps 105 in said method are implemented, and which implements the correlation that process is referred in said method embodiment
Description.
It should be noted that above-mentioned each module (acquisition module 301, the first determining module 302, the first correcting module 303,
306) second correcting module 304, the second determining module 305, the 3rd determining module are used for performing the determination side of above-mentioned wheelpath
The correlation step of method.
" module " in the present embodiment can be specifies application integrated circuit (application-specific
Integrated circuit, ASIC), the processor and memory of one or more softwares or firmware program is performed, it is integrated to patrol
Circuit is collected, and/or other can provide the device of above-mentioned functions.Additionally, above-mentioned each module can be by the device described in Fig. 6
Processor is realizing.
As shown in fig. 6, the determining device of wheelpath can be realized with the structure in Fig. 6.The device 600 is included at least
One processor 601, at least one memory 602, at least one communication interface 603.Additionally, the device can also include antenna
Deng universal component, will not be described in detail herein.
Processor 601 can be general central processor (CPU), microprocessor, ASIC
(application-specific integrated circuit, ASIC), or one or more be used for control above scheme journey
The integrated circuit that sequence is performed.
Communication interface 603, for other equipment or communication, such as Ethernet, wireless access network (RAN), nothing
Line LAN (Wireless Local Area Networks, WLAN) etc..
Memory 602 can be read-only storage (read-only memory, ROM) or can store static information and instruction
Other kinds of static storage device, random access memory (random access memory, RAM) or letter can be stored
Breath and the other kinds of dynamic memory for instructing, or EEPROM (Electrically
Erasable Programmable Read-Only Memory, EEPROM), read-only optical disc (Compact Disc Read-
Only Memory, CD-ROM) or other optical disc storages, laser disc storage (including compression laser disc, laser disc, laser disc, digital universal
Laser disc, Blu-ray Disc etc.), magnetic disk storage medium or other magnetic storage apparatus or can be used in carrying or store to have referring to
The desired program code of order or data structure form simultaneously can be by any other medium of computer access, but not limited to this.
Memory can be individually present, and be connected with processor by bus.Memory can also be integrated with processor.
Wherein, the memory 602 is used for storing the application code for performing above scheme, and by processor 601
Control is performed.The application code that the processor 601 is stored in being used for performing the memory 602.
Wheelpath determining device shown in Fig. 6, the code of the storage of memory 602 can perform wheelpath provided above
Determine method, such as obtain the amendment coordinate value and multiple historical position coordinate values of vehicle；According to the amendment coordinate value and many
Individual historical position coordinate value determines vehicle by correcting direct of travel angle and the traveling acceleration of coordinate points；Based on the traveling side
To angle, the measurement direction angle obtained by the gyroscope measurement in the determining device of the wheelpath is corrected, to obtain target
Deflection；Based on the measurement acceleration that the traveling acceleration, amendment are obtained by the gravity sensor measurement in described device,
To obtain aimed acceleration；Previous go through according to the aimed acceleration, target direction angle, by adjacent with the current location moment
The coordinate value of the speed of history position and the previous historical position adjacent with the current location moment is determining current vehicle position
Coordinate value；The rail to be travelled of vehicle is determined according to the coordinate value of the current location and the coordinate value of the plurality of historical position
Mark.
The embodiment of the present invention also provides a kind of computer-readable storage medium, and wherein, the computer-readable storage medium can be stored with journey
Sequence, includes the part of the determination method of any wheelpath described in said method embodiment or full during the program performing
Portion's step.
It should be noted that for aforesaid each method embodiment, in order to be briefly described, therefore which is all expressed as a series of
Combination of actions, but those skilled in the art should know, the present invention do not limited by described sequence of movement because
According to the present invention, some steps can adopt other orders or while carry out.Secondly, those skilled in the art should also know
Know, embodiment described in this description belongs to preferred embodiment, involved action and module are not necessarily of the invention
It is necessary.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and does not have the portion described in detail in certain embodiment
Point, may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed device, can be by another way
Realize.For example, device embodiment described above is only schematic, such as division of described unit, is only one kind
Division of logic function, can have when actually realizing other dividing mode, such as multiple units or component can with reference to or can
To be integrated into another system, or some features can be ignored, or not perform.It is another, it is shown or discussed each other
Coupling or direct-coupling or communication connection can be INDIRECT COUPLING or communication connection by some interfaces, device or unit,
Can be electrical or other forms.
The unit as separating component explanation can be or may not be it is physically separate, it is aobvious as unit
The part for showing can be or may not be physical location, you can local to be located at one, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.Above-mentioned integrated list
Unit both can be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is realized and as independent production marketing or use using in the form of SFU software functional unit
When, can be stored in a computer-readable access to memory.Based on such understanding, technical scheme substantially or
Person say the part or technical scheme contributed by prior art all or part can in the form of software product body
Reveal and, the computer software product is stored in a memory, use so that a computer equipment including some instructions
(can be personal computer, server or network equipment etc.) performs all or part of each embodiment methods described of the invention
Step.And aforesaid memory includes：USB flash disk, read-only storage (ROM, Read-Only Memory), random access memory
(RAM, Random Access Memory), portable hard drive, magnetic disc or CD etc. are various can be with the medium of store program codes.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
Instruct related hardware to complete with by program, the program can be stored in a computer-readable memory, memory
Can include：Flash disk, read-only storage (English：Read-Only Memory, referred to as：ROM), random access device (English：
Random Access Memory, referred to as：RAM), disk or CD etc..
Above the embodiment of the present invention is described in detail, specific case used herein to the principle of the present invention and
Embodiment is set forth, and the explanation of above example is only intended to help and understands the method for the present invention and its core concept；
Simultaneously for one of ordinary skill in the art, according to the thought of the present invention, can in specific embodiments and applications
There is change part, to sum up above-mentioned, this specification content should not be construed as limiting the invention.
Claims (10)
1. a kind of determination method of wheelpath, it is characterised in that include：
Obtain the amendment coordinate value and multiple historical position coordinate values of vehicle；
Determine vehicle by correcting the direct of travel angle of coordinate points according to the amendment coordinate value and multiple historical position coordinate values
With traveling acceleration；
Based on the direct of travel angle, the measurement obtained by the gyroscope measurement in the determining device of the wheelpath is corrected
Deflection, to obtain target direction angle；Based on the traveling acceleration, amendment is by the gravity sensor measurement in described device
The measurement acceleration of acquisition, to obtain aimed acceleration；
According to the aimed acceleration, target direction angle, by the speed of previous historical position adjacent with the current location moment
Current vehicle position coordinate value is determined with the coordinate value of the previous historical position adjacent with the current location moment；
Driving trace is treated according to what the coordinate value of the current location and the coordinate value of the plurality of historical position determined vehicle.
2. method according to claim 1, it is characterised in that described based on the direct of travel angle, amendment is by described
The measurement direction angle that gyroscope measurement in the determining device of wheelpath is obtained, to obtain target direction angle, including：
According to the direct of travel angle, Kalman filtering is carried out to the measurement direction angle that the gyroscope is obtained；
When the error amount of deflection is less than or equal to preset value after the filtering, then using the filtered measurement direction angle as institute
State target direction angle.
3. method according to claim 1, it is characterised in that described based on the traveling acceleration, amendment is by described
The measurement acceleration that gravity sensor measurement in device is obtained, to obtain aimed acceleration, including：
The gravity sensor is measured the measurement acceleration for obtaining and is multiplied by correction factor, to obtain the aimed acceleration.
4. the method according to any one of claim 1-3, it is characterised in that the accurate seat according to the current location
What the accurate coordinate value of scale value and the plurality of historical position determined vehicle treats driving trace, including：
Fitting of a polynomial is carried out to the accurate coordinate value of the accurate coordinate value and the plurality of historical position of the current location, profit
Determine vehicle with the multinomial that obtains of fitting treats driving trace.
5. method according to claim 4, it is characterised in that the polynomial fitting number of times is 2-5 time.
6. a kind of determining device of wheelpath, it is characterised in that include：
Acquisition module, for obtaining the amendment coordinate value and multiple historical position coordinate values of vehicle；
According to the amendment coordinate value and multiple historical position coordinate values, first determining module, for determining that vehicle is sat by correcting
The direct of travel angle of punctuate and traveling acceleration；
First correcting module, based on the direct of travel angle, corrects by the gyroscope in the determining device of the wheelpath
The measurement direction angle that measurement is obtained, to obtain target direction angle；
Second correcting module, based on the traveling acceleration, amendment is obtained by the gravity sensor measurement in described device
Measurement acceleration, to obtain aimed acceleration；
Second determining module, for according to the aimed acceleration, target direction angle, by adjacent with the current location moment previous
The coordinate value of the speed of individual historical position and the previous historical position adjacent with the current location moment is current to determine vehicle
Position coordinate value；
3rd determining module, for determining car according to the coordinate value of the coordinate value of the current location and the plurality of historical position
Treat driving trace.
7. device according to claim 6, it is characterised in that first correcting module, including：
First module, according to the direct of travel angle, carries out Kalman filtering to the measurement direction angle that the gyroscope is obtained；
Second unit, for deflection after the filtering error amount be less than or equal to preset value when, then by the filtered side
To angle as the target direction angle.
8. device according to claim 6, it is characterised in that the second described correcting module：
The gravity sensor is measured the measurement acceleration for obtaining and is multiplied by correction factor, to obtain the aimed acceleration.
9. the device according to any one of claim 6-8, it is characterised in that the 3rd determining unit, including：
Unit the 3rd, the coordinate value for the coordinate value to the current location and the plurality of historical position carry out multinomial plan
Close, to obtain polynomial fitting；
Unit the 4th, treats driving trace for determine vehicle according to the polynomial fitting.
10. device according to claim 9, it is characterised in that the polynomial number of times is 2-5 time.
Priority Applications (2)
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| CN201610841603.3A CN106525033A (en) | 2016-09-22 | 2016-09-22 | Running track determination method and device thereof |
| PCT/CN2016/105792 WO2018053921A1 (en) | 2016-09-22 | 2016-11-14 | Traveling trajectory determination method and device thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610841603.3A CN106525033A (en) | 2016-09-22 | 2016-09-22 | Running track determination method and device thereof |
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| CN106525033A true CN106525033A (en) | 2017-03-22 |
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| CN201610841603.3A Pending CN106525033A (en) | 2016-09-22 | 2016-09-22 | Running track determination method and device thereof |
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| WO (1) | WO2018053921A1 (en) |
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