CN113324560A - Method, system and computer readable medium for obtaining vehicle mileage - Google Patents
Method, system and computer readable medium for obtaining vehicle mileage Download PDFInfo
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Abstract
The utility model relates to the technical field of car networking, mainly disclose a method for obtaining vehicle mileage, including following step: acquiring current positioning data of a running vehicle at first intervals, wherein the current positioning data of the vehicle are originated from a positioning device arranged on the vehicle; obtaining the current running speed of the vehicle according to the current positioning data of the vehicle; judging the current running speed, a first threshold value and a second threshold value, and if the running speed is between the first threshold value and the second threshold value, obtaining the current high-precision positioning data of the vehicle according to the reliability value of the current positioning data of the vehicle; and obtaining the mileage information of the vehicle according to the high-precision positioning data of the vehicle. The accurate mileage information of the vehicle is convenient to obtain.
Description
Technical Field
The present disclosure relates to the field of vehicle networking technologies, and in particular, to a method, a system, and a computer readable medium for obtaining vehicle mileage.
Background
The intelligent driving recorder is a product for recording related information such as images and sounds during vehicle driving, and can also be used for high-precision positioning and vehicle operation and maintenance management, such as positioning vehicles, mileage statistics and the like, a common driving recorder uses GPS positioning, the positioning error is 10-15 meters, the positioning recorder mainly depends on receiving satellite signals, positioning data is obtained according to the satellite signals, the speed of the vehicle is calculated according to the positioning data, and the mileage is calculated according to the average speed and time of the vehicle.
Disclosure of Invention
To solve the foregoing technical problem, an embodiment of the present invention provides a method, a system and a computer readable medium for more accurately obtaining a vehicle mileage. In a first aspect, a method for obtaining vehicle mileage is provided, including the steps of: acquiring current positioning data of a running vehicle at first intervals, wherein the current positioning data of the vehicle are originated from a positioning device arranged on the vehicle; obtaining the current running speed of the vehicle according to the current positioning data of the vehicle; judging the current running speed, a first threshold value and a second threshold value, and if the running speed is between the first threshold value and the second threshold value, obtaining the current high-precision positioning data of the vehicle according to the reliability value of the current positioning data of the vehicle; and obtaining the mileage information of the vehicle according to the high-precision positioning data of the vehicle.
Preferably, the "obtaining the current high-precision positioning data of the vehicle according to the confidence value of the current positioning data of the vehicle" includes:
and if the reliability value of the current positioning data of the vehicle is greater than or equal to the first numerical value, the current high-precision positioning data of the vehicle is equal to the obtained current positioning data of the vehicle.
Preferably, the "obtaining the current high-precision positioning data of the vehicle according to the confidence value of the current positioning data of the vehicle" further includes: and if the reliability value of the current positioning data of the vehicle is smaller than the first numerical value, performing Kalman filtering on a plurality of positioning data obtained in the previous time period based on the current running speed of the vehicle to obtain the current high-precision positioning data of the vehicle.
Preferably, if the current running speed is greater than or equal to the second threshold, the current high-precision positioning data of the vehicle is equal to the acquired current positioning data of the vehicle.
Preferably, if the current running speed is less than or equal to the first threshold, the current high-precision positioning data of the vehicle is equal to the obtained last positioning data of the vehicle.
Preferably, the obtaining the mileage information of the vehicle according to the high-precision positioning data of the vehicle includes: and calculating the distance between two adjacent positioning points of the vehicle by using two high-precision positioning data of the vehicle obtained at adjacent time, and obtaining the total mileage information of the vehicle according to the distance between each two adjacent positioning points.
Preferably, the calculated distance between two adjacent positioning points includes zero.
Preferably, the first time is adjusted according to the running speed, and the larger the running speed is, the shorter the first time is.
The present disclosure in a second aspect proposes a system for obtaining vehicle mileage, comprising: the current positioning data acquisition unit is used for acquiring the current positioning data of a running vehicle at first intervals, wherein the current positioning data of the vehicle is originated from a positioning device arranged on the vehicle; the running speed acquisition unit is used for acquiring the current running speed of the vehicle according to the current positioning data of the vehicle; the judging unit is used for judging the current running speed, the first threshold value and the second threshold value, and obtaining the current high-precision positioning data of the vehicle according to the reliability value of the current positioning data of the vehicle if the running speed is between the first threshold value and the second threshold value; and the mileage information acquisition unit is used for acquiring the mileage information of the vehicle according to the high-precision positioning data of the vehicle.
The present disclosure proposes, in a third aspect, a computer-readable medium in which a computer program is stored, the computer program being loaded and executed by a processing module to implement the steps of any of the methods described above.
Compared with the prior art: the invention acquires the current positioning data of the running vehicle at the first time every interval, and ensures that enough positioning data are used for solving more accurate mileage information. The current positioning data of the vehicle is originated from a positioning device arranged on the vehicle; for obtaining accurate positioning data of the vehicle. Obtaining the current running speed of the vehicle according to the current positioning data of the vehicle; thus, the real-time speed of the vehicle can be always obtained. Judging the current running speed, a first threshold value and a second threshold value, and if the running speed is between the first threshold value and the second threshold value, obtaining the current high-precision positioning data of the vehicle according to the reliability value of the current positioning data of the vehicle; and obtaining the mileage information of the vehicle according to the high-precision positioning data of the vehicle. Thus, high-precision positioning data can be obtained even if the vehicle runs at a relatively low speed or runs under the condition of shielding, so that more accurate mileage information can be obtained.
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For a better understanding of the technical aspects of the present disclosure, reference may be made to the following drawings, which are included to provide an additional description of the prior art or embodiments. These drawings selectively illustrate articles or methods related to the prior art or some embodiments of the present disclosure. The basic information for these figures is as follows:
FIG. 1 is a flow diagram of a method of obtaining vehicle range in one embodiment.
Detailed Description
The technical means or technical effects referred to by the present disclosure will be further described below, and it is apparent that the examples (or embodiments) provided are only some embodiments intended to be covered by the present disclosure, and not all embodiments. All other embodiments, which can be made by those skilled in the art without any inventive step, will be within the scope of the present disclosure as expressed or implied by the embodiments and text herein.
The following is a description of the main objects or relationships involved in the above steps. Where not further understood, reasonable reasoning can be achieved with reference to the relevant art, other relevant descriptions of the prior art, or the intent of the invention.
As shown in fig. 1, the present disclosure in a first aspect proposes a method of obtaining vehicle mileage, comprising the steps of:
s1, acquiring the current positioning data of the running vehicle at intervals of the first time, wherein the current positioning data of the vehicle are originated from a positioning device arranged on the vehicle;
s2, obtaining the current running speed of the vehicle according to the current positioning data of the vehicle;
s3, judging the current running speed, the first threshold value and the second threshold value, and if the running speed is between the first threshold value and the second threshold value, obtaining the current high-precision positioning data of the vehicle according to the reliability value of the current positioning data of the vehicle;
and S4, obtaining the mileage information of the vehicle according to the high-precision positioning data of the vehicle.
In an embodiment, the method is used for obtaining the mileage of the vehicle, and the mileage of the vehicle in driving can be obtained in real time or obtained afterwards.
S1, acquiring the current positioning data of the running vehicle at intervals of the first time, wherein the current positioning data of the vehicle are originated from a positioning device arranged on the vehicle;
in one embodiment, a vehicle is provided with a satellite antenna and vehicle-mounted intelligent electronic products such as a driving recorder and a locator which are internally provided with a high-precision positioning algorithm, and the electronic products are provided with positioning devices which can perform positioning in a way of receiving satellite signals through the satellite antenna and the like.
Above-mentioned built-in GNSS module of on-vehicle intelligent electronic product can receive satellite signal, and uses big dipper satellite positioning signal as the main, and GPS satellite signal is supplementary, and built-in high accuracy positioning solves the module, can carry out RTD RTK position with satellite data fusion and solve, the 4G module: and accessing CORS service, and acquiring differential data of the base station for auxiliary positioning. The GNSS module is provided with the external antenna, so that better satellite signals can be stably obtained, and the positioning data is more accurate. The 4G module can access CORS service, obtain base station differential correction data and transmit the base station differential correction data to the high-precision positioning resolving module. The high-precision positioning resolving module performs fusion processing on satellite positioning data received by the GNSS module and differential correction data acquired by the 4G module, and performs RTD/RTK resolving on current positioning data of the vehicle, namely resolving real-time positioning data of the vehicle in running. The calculation here can also be performed afterwards.
The calculation can be carried out at the vehicle end, and the current positioning data of the vehicle can also be obtained by carrying out calculation at the cloud end. The current positioning data of the vehicle can be calculated in real time, and also can be calculated afterwards, which is not limited herein. The positioning devices receive satellite signals at first intervals and calculate the positioning data of the positioning devices, the general frequency is 1Hz, and therefore the current positioning data of the vehicle is obtained, the first time can be set to be 1 second, and the first time can also be 2 seconds or 0.5 second and the like. The faster the vehicle is travelling, the smaller the first time is set and vice versa. The method comprises the steps of acquiring real-time satellite positioning data of a vehicle every first interval, wherein the acquired real-time satellite positioning data of the vehicle is current positioning data of the vehicle. However, when the satellite signal is blocked or the signal is not good, the satellite signal received by the vehicle positioning device is not accurate, so that the current vehicle positioning data obtained by resolving the received satellite signal is not accurate enough or the current vehicle positioning data has low accuracy. The purpose of this application embodiment is exactly to obtain vehicle high accuracy positioning data, and then can obtain accurate mileage information or total mileage of vehicle.
In one embodiment, high-precision positioning data of a vehicle on a driving road section are respectively obtained according to the fact that the vehicle is in three different speed scenes, each high-precision positioning data represents position information of one high-precision positioning point in the driving process of the vehicle, the high-precision positioning points form a track, and then the mileage of the track is calculated to be mileage information of the vehicle.
S2, obtaining the current running speed of the vehicle according to the current positioning data of the vehicle;
after the positioning device on the vehicle acquires the satellite data, the satellite data comprises a speed value, and the current positioning data of the vehicle is obtained by resolving according to the satellite data, so that the current running speed of the vehicle can be obtained according to the current positioning data of the vehicle.
In an embodiment, the first time is 1 second, that is, the current positioning data of the vehicle are acquired every other one second, so as to obtain the high-precision positioning data and then form a plurality of high-precision positioning point sets of the vehicle on the driving road section, calculate the distance between two adjacent high-precision positioning points, and obtain the total mileage information according to the distance between two adjacent positioning points in the high-precision positioning point set.
S3, judging the current running speed, the first threshold value and the second threshold value, and if the running speed is between the first threshold value and the second threshold value, obtaining the current high-precision positioning data of the vehicle according to the reliability value of the current positioning data of the vehicle;
after the current running speed of the vehicle is obtained, the current running speed is firstly judged according to the first threshold value and the second threshold value, so that the running places of the vehicle are divided into three places. First, if the current running speed is greater than or equal to the second threshold, the current high-precision positioning data of the vehicle is equal to the acquired current positioning data of the vehicle. That is, when the current driving speed is greater than or equal to the second threshold, the current positioning data obtained by the vehicle through the positioning device is the high-precision positioning data, and the current positioning data does not need to be processed. This is true for the position of the vehicle obtained by the positioning device.
Secondly, if the current running speed is less than or equal to the first threshold, the current high-precision positioning data of the vehicle is equal to the last positioning data of the vehicle. That is, the current positioning data obtained by the positioning device at this time is not accurate enough, and the current positioning data obtained at this time is discarded. And the high-precision positioning data obtained in the last second is taken as the high-precision positioning data of the vehicle at the moment, namely the vehicle is static and does not move for the default time. The distance between the position of the vehicle at this time and the position where the vehicle was located in the last second is zero.
Thirdly, judging the current running speed and the sizes of the first threshold value and the second threshold value, and if the running speed is between the first threshold value and the second threshold value, obtaining the current high-precision positioning data of the vehicle according to the reliability value of the current positioning data of the vehicle; and if the reliability value of the current positioning data of the vehicle is greater than or equal to the first numerical value, the current high-precision positioning data of the vehicle is equal to the obtained current positioning data of the vehicle. That is, the current positioning data of the vehicle obtained by the positioning device is high-precision.
And if the reliability value of the current positioning data of the vehicle is smaller than the first numerical value, performing Kalman filtering on a plurality of positioning data obtained in the previous time period based on the current running speed of the vehicle to obtain the current high-precision positioning data of the vehicle. That is, the current positioning data of the vehicle obtained by the positioning device at this time is inaccurate, and the high-precision positioning data of the vehicle at this time needs to be obtained by processing the high-precision positioning data of a plurality of vehicles obtained at previous time. In the present embodiment, the positioning data is obtained by performing kalman filtering on a plurality of positioning data obtained in the previous time period.
And S4, obtaining the mileage information of the vehicle according to the high-precision positioning data of the vehicle.
And calculating the distance between two adjacent positioning points of the vehicle by using two high-precision positioning data of the vehicle obtained at adjacent time, and obtaining the total mileage information of the vehicle according to the distance between each two adjacent positioning points.
The locating point is the position of the vehicle when the current locating data of the vehicle is acquired by the locating device every second, and when the running speed corresponding to a certain locating point is less than or equal to a first threshold value, the current locating data of the locating point is not counted into a locating point set. And when the running speed corresponding to a certain positioning point is greater than or equal to a second threshold value, the positioning data of the positioning point is counted into a positioning point set. When the running speed corresponding to a certain positioning point is greater than a first threshold and less than a second threshold, acquiring a reliability value in the current positioning data of the positioning point; when the credibility value is greater than or equal to 4, recording the current positioning data of the positioning point into a positioning point set; and when the credibility value is less than 4, performing Kalman filtering on all the high-precision positioning data of a plurality of positioning points positioned in front of the positioning point to obtain the high-precision positioning data of the positioning point, and counting the filtered high-precision positioning data of the positioning point into the position information of the positioning point in the positioning point set.
Specifically, high-precision positioning data of a running vehicle is acquired every second, so that enough high-precision positioning data can be acquired, a high-precision positioning data set of positioning points formed by the high-precision positioning data is acquired every second, the distance between two adjacent positioning points is calculated, and total mileage information is acquired according to the distance between each two adjacent positioning points in the positioning point set. When the mileage information is calculated from the high-precision positioning data, it is ensured that comparatively accurate mileage information can be obtained. The first time can be adjusted according to the driving speed, for example, the time interval can be longer on a road section with lower speed, the time interval can be shorter on a road section with higher speed, and enough positioning data can be obtained. The current positioning data is originated from a positioning device arranged on the vehicle, the positioning device can be a GPS module or a Beidou module, and can receive satellite signals so as to obtain satellite data and also can receive differential data of a reference station so as to solve the current positioning data.
Comparing the current running speed with a first threshold value and a second threshold value, wherein the first threshold value is smaller than the second threshold value, and when the current running speed is larger than the first threshold value and smaller than the second threshold value, obtaining the current high-precision positioning data of the vehicle according to the credibility value in the current positioning data;
in one embodiment, the first threshold is 1m/s and the second threshold is 7 m/s. And judging whether the running speed is greater than 1m/s, if so, indicating that the vehicle is in a static state, and obtaining the mileage information of the vehicle by using the last high-precision positioning data when the current running speed is less than or equal to a first threshold value, wherein the speed of the vehicle is not 0m/s but the vehicle is actually in the static state. Namely, the current positioning data of the vehicle at the moment is abandoned, and the obtained last high-precision positioning data is used for calculating the corresponding mileage information. The positioning data obtained in real time is not used for statistically calculating the mileage information. Redundant incorrect mileage information is prevented from being counted into the total mileage information.
And if the current running speed is greater than or equal to the second threshold value, obtaining the mileage information of the vehicle according to the current positioning data. That is, when the traveling speed is greater than or equal to 7m/s, the distance between the positioning data and the last positioning data is calculated using the current positioning data, thereby calculating the corresponding mileage information. At this time, the obtained current positioning data is high-precision positioning data.
In one embodiment, the current running speed is compared with a first threshold value and a second threshold value, the first threshold value is smaller than the second threshold value, when the current running speed is larger than the first threshold value and smaller than the second threshold value, high-precision positioning data of the vehicle at the moment is obtained according to a reliability value in the current positioning data, and when the reliability value is larger than or equal to 4, the high-precision positioning data of the vehicle at the moment is the current positioning data; when the reliability value is less than 4, the current high-precision positioning data of the vehicle is obtained after Kalman filtering is carried out on the obtained high-precision positioning data of the previous time. Specifically, when the speed is greater than 1m/s of the first speed and less than 7m/s of the second speed, the reliability of the positioning data is judged, the current positioning data contains a reliability value, the reliability value is judged, if the reliability value is greater than or equal to 4, the accuracy of the obtained positioning data is high, high-precision positioning can be performed, at the moment, the currently obtained positioning data is used for calculating mileage information, namely, the obtained mileage information corresponding to the distance between the positioning point corresponding to the positioning data and the last positioning point is used for counting. If the credibility value is less than 4, then the positioning data precision that this moment obtained is not high enough, and this scheme carries out Kalman filtering to the high accuracy positioning data of a plurality of preceding time quantums such as last second and last second, and then obtains current high accuracy positioning data. Namely, the accurate positioning data is obtained, which is equivalent to that the positioning point corresponding to the positioning data with low precision is corrected, so that the track of the positioning point returns to the correct track, and the correct mileage information is convenient to count. When carrying out the Kalman filtering to the positioning data of current acquisition, if some correct positioning data have been confirmed in the front, then carry out Kalman filtering to these correct positioning data and the positioning data of current real-time acquisition together, be convenient for obtain the positioning data after the current filtering.
The present disclosure in a second aspect proposes a system for obtaining vehicle mileage, comprising:
the current positioning data acquisition unit is used for acquiring the current positioning data of a running vehicle at first intervals, wherein the current positioning data of the vehicle is originated from a positioning device arranged on the vehicle; the running speed acquisition unit is used for acquiring the current running speed of the vehicle according to the current positioning data of the vehicle; the judging unit is used for judging the current running speed, the first threshold value and the second threshold value, and obtaining the current high-precision positioning data of the vehicle according to the reliability value of the current positioning data of the vehicle if the running speed is between the first threshold value and the second threshold value; and the mileage information acquisition unit is used for acquiring the mileage information of the vehicle according to the high-precision positioning data of the vehicle.
The present disclosure proposes in a third aspect a computer readable medium having stored thereon a computer program to be loaded and executed by a processing module to implement the steps of the monitoring method. It will be understood by those skilled in the art that all or part of the steps in the embodiments may be implemented by hardware instructions associated with a computer program, and the program may be stored in a computer readable medium, which may include various media capable of storing program code, such as a flash memory, a removable hard disk, a read-only memory, a random access memory, a magnetic or optical disk, and the like.
The various embodiments or features mentioned herein may be combined with each other as additional alternative embodiments without conflict, within the knowledge and ability level of those skilled in the art, and a limited number of alternative embodiments formed by a limited number of combinations of features not listed above are still within the skill of the disclosed technology, as will be understood or inferred by those skilled in the art from the figures and above.
Moreover, the descriptions of the embodiments are expanded upon with varying emphasis, as appropriate, with reference to the relevant prior art, other relevant descriptions herein, or the intent of the invention, where it is not further understood that such descriptions are presented herein.
It is emphasized that the above-described embodiments, which are typical and preferred embodiments of this disclosure, are merely used to explain and explain the technical solutions of the disclosure in detail for the reader's understanding, and do not limit the scope or application of the disclosure as claimed. Any modifications, equivalents, improvements and the like which come within the spirit and principle of the disclosure are intended to be covered by the scope of the disclosure.
Claims (10)
1. A method of obtaining vehicle mileage, comprising the steps of:
acquiring current positioning data of a running vehicle at first intervals, wherein the current positioning data of the vehicle are originated from a positioning device arranged on the vehicle;
obtaining the current running speed of the vehicle according to the current positioning data of the vehicle;
judging the current running speed, a first threshold value and a second threshold value, and if the running speed is between the first threshold value and the second threshold value, obtaining the current high-precision positioning data of the vehicle according to the reliability value of the current positioning data of the vehicle;
and obtaining the mileage information of the vehicle according to the high-precision positioning data of the vehicle.
2. The method of claim 1, wherein: the "obtaining the current high-precision positioning data of the vehicle according to the confidence value of the current positioning data of the vehicle" includes:
and if the reliability value of the current positioning data of the vehicle is greater than or equal to the first numerical value, the current high-precision positioning data of the vehicle is equal to the obtained current positioning data of the vehicle.
3. The method of claim 1, wherein: the step of obtaining the current high-precision positioning data of the vehicle according to the reliability value of the current positioning data of the vehicle further comprises the following steps:
and if the reliability value of the current positioning data of the vehicle is smaller than the first numerical value, performing Kalman filtering on a plurality of positioning data obtained in the previous time period based on the current running speed of the vehicle to obtain the current high-precision positioning data of the vehicle.
4. The method of claim 1, wherein:
and if the current running speed is greater than or equal to the second threshold value, the current high-precision positioning data of the vehicle is equal to the obtained current positioning data of the vehicle.
5. The method of claim 1, wherein:
and if the current running speed is less than or equal to the first threshold value, the current high-precision positioning data of the vehicle is equal to the obtained last positioning data of the vehicle.
6. The method of claim 1, wherein: "obtaining mileage information of a vehicle from high-precision positioning data of the vehicle" includes:
and calculating the distance between two adjacent positioning points of the vehicle by using two high-precision positioning data of the vehicle obtained at adjacent time, and obtaining the total mileage information of the vehicle according to the distance between each two adjacent positioning points.
7. The method of claim 6, wherein: the calculated distance between two adjacent positioning points comprises zero.
8. The method of claim 1, wherein: the first time is adjusted according to the running speed, and the larger the running speed is, the shorter the first time is.
9. A system for obtaining vehicle mileage, comprising:
the current positioning data acquisition unit is used for acquiring the current positioning data of a running vehicle at first intervals, wherein the current positioning data of the vehicle is originated from a positioning device arranged on the vehicle;
the running speed acquisition unit is used for acquiring the current running speed of the vehicle according to the current positioning data of the vehicle;
the judging unit is used for judging the current running speed, the first threshold value and the second threshold value, and obtaining the current high-precision positioning data of the vehicle according to the reliability value of the current positioning data of the vehicle if the running speed is between the first threshold value and the second threshold value;
and the mileage information acquisition unit is used for acquiring the mileage information of the vehicle according to the high-precision positioning data of the vehicle.
10. A computer-readable medium, characterized in that:
the computer-readable medium has stored thereon a computer program which is loaded and executed by a processing module to perform the steps of the method of any of claims 1 to 8.
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