WO2016045398A1 - Method for adjusting vehicle traveling track and system for adjusting vehicle traveling track - Google Patents

Abstract

A method and system for adjusting a vehicle traveling track. The system comprises multiple terminal devices (100) configured in multiple traveling vehicles and a vehicle monitoring center (200). The vehicle monitoring center (200) is used for receiving initial positioning data X and the following positioning data (X+1) reported by the terminal device (100) of any one of the traveling vehicles, determining whether the positioning data (X+1) satisfies a set data credibility test triggering condition by using the initial positioning data X as the basis for judging the data credibility test triggering condition, and when the positioning data (X+1) satisfies the data credibility test triggering condition, sequentially performing credibility estimation on multiple pieces of positioning data subsequently reported by the terminal device (100), selecting all the valid positioning data from the multiple pieces of positioning data according to the data credibility estimation result, generating a corrected vehicle traveling curve on the basis of the selected positioning data, and displaying the corrected vehicle traveling curve on a traveling track monitoring interface of a traveling vehicle.

Description

Vehicle travel track adjustment method and vehicle travel track adjustment system Technical field

The present invention relates to the field of vehicle monitoring technology, and more particularly to a vehicle travel trajectory adjustment method and a vehicle travel trajectory adjustment system.

Background technique

At present, there are two technical defects in the vehicle monitoring system. On the one hand, when the traveling vehicle enters an area where the vehicle positioning signal is weak or has no vehicle positioning signal, for the vehicle monitoring center, the traveling vehicle is in a "temporarily lost" state, and the vehicle monitoring center cannot obtain an accurate vehicle positioning signal, resulting in its It is impossible to accurately locate the traveling vehicle; on the other hand, because the positioning accuracy of the positioning chip used by the civil vehicle navigation terminal is poor, the vehicle monitoring center inevitably receives the drifting positioning data (ie, the current position of the indicated vehicle is compared with the actual vehicle position). The position data of the vehicle whose position is offset) eventually causes the vehicle travel curve on the monitoring interface of the vehicle travel trajectory monitoring system to deviate from the actual travel trajectory of the vehicle, thereby causing misleading to the driver of the vehicle and reducing the navigation experience of the user. .

Summary of the invention

The technical problem to be solved by the present invention is to provide a method and system for intelligently adjusting a vehicle travel trajectory according to the above-mentioned deficiencies of the prior art.

The technical solution adopted by the present invention to solve the technical problem thereof is to construct a method for adjusting a vehicle travel trajectory, and the method includes the following steps:

S1. The vehicle monitoring center receives the initial positioning data X reported by the terminal device of any traveling vehicle. And the following positioning data (X+1), the initial positioning data X is used as a judgment criterion of the data credibility test trigger condition to determine whether the positioning data (X+1) satisfies the data credibility test trigger condition; X is an incremental variable;

S2. The vehicle monitoring center determines that the positioning data (X+1) meets the data credibility test trigger condition, and sequentially performs data credibility evaluation on the plurality of positioning data subsequently reported by the terminal device;

S3. Select all valid positioning data from the plurality of positioning data that are subsequently reported according to the data credibility evaluation result, generate a corrected vehicle driving curve based on the valid positioning data, and display the corrected vehicle driving curve to the traveling vehicle. Travel track monitoring interface.

In the above method for adjusting the vehicle trajectory of the present invention, before the step S1, the following steps are further included:

S0. The positioning data reporting period T of the terminal device of the traveling vehicle is preset, the driving mileage threshold S _max of the traveling vehicle in the positioning data reporting period T, and the driving speed threshold V of the traveling vehicle in the positioning data reporting period T _Max .

In the above vehicle trajectory adjustment method of the present invention, the step of the vehicle monitoring center determining whether the positioning data (X+1) satisfies the data credibility test trigger condition in the step S1 includes:

The search positioning data X corresponds to the vehicle position P _X and the positioning data (X+1) on the vehicle monitoring map corresponding to the vehicle position P _(X+1) on the vehicle monitoring map, according to the vehicle position P _X and the vehicle position P _{(X) +1)} calculating the actual mileage S _{X (X+1)} and the actual traveling speed V _{X (X+1)} of the traveling vehicle in the positioning data reporting period T, and the actual driving range S _{X (X+1)} And the actual traveling speed V _{X(X+1) is} compared with the driving mileage threshold S _max and the driving speed threshold V _max in the positioning data reporting period T of the traveling vehicle, respectively;

If it is determined that S _X(X+1) <Smax and/or V _X(X+1) <Vmax, the positioning data X and the positioning data (X+1) are stored as valid vehicle positioning data in the database;

If it is determined that S _X(X+1) ≥ Smax and/or V _X(X+1) ≥ Vmax, it is confirmed that the positioning data (X+1) satisfies the data reliability test trigger condition, and the positioning data (X+1) is satisfied. The suspicious vehicle positioning data is temporarily stored in the database 205.

In the above vehicle trajectory adjustment method of the present invention, the step of the vehicle monitoring center sequentially performing the credibility evaluation for the plurality of positioning data subsequently reported by the vehicle monitoring center in the step S2 includes:

S21. Set an initial trusted value M of the positioning data reported by the terminal device to 0.

S22. Receive the next positioning data (X+2) reported by the terminal device, and calculate the actual driving range S _{(X+1) (X+2)} and the actual traveling speed V of the traveling vehicle in the next positioning data reporting period T. _{(X+1) (X+2)} and report the actual driving range S _{(X+1) (X+2)} and the actual driving speed V _{(X+1) (X+2)} with the driving vehicle in the positioning data The mileage threshold S _max and the driving speed threshold V _{max in the} period T are respectively compared; wherein M is a variable;

If it is determined that S _{(X + 1) (X + 2)} < Smax and / or V _{(X + 1) (X + 2)} < Vmax, the trusted value M is incremented by 1, and the step S22 is executed in a loop.

In the above method for adjusting the trajectory of the vehicle of the present invention, the step of sequentially performing data credibility evaluation on the plurality of positioning data reported by the vehicle monitoring center in the step S2 in the step S2 further includes:

S23. Accumulate the trusted value M, and compare the accumulated trusted value M with the set trust threshold N;

If M≥N, the positioning data (X+2) and the subsequent N positioning data are all defined as valid positioning data, and the valid positioning data is stored in a designated storage area of the database, and the next step S3 is performed. ;

If M < N, the process returns to step S22.

In the above method for adjusting a vehicle trajectory of the present invention, the step S22 further includes:

If it is determined that S _(X+1)(X+2) ≥ Smax and/or V _{(X+1) (X+2)} ≥ Vmax, both the positioning data (X+1) and the positioning data (X+2) are obtained. It is defined as drift positioning data, and the drift positioning data is deleted, and the trusted value M of the positioning data from the terminal device is reset to 0.

The present invention also constructs a vehicle travel trajectory adjustment system, the system comprising a plurality of terminal devices disposed in a plurality of traveling vehicles, and a vehicle monitoring center that establishes wireless communication with the plurality of terminal devices;

The vehicle monitoring center is configured to receive the initial positioning data X and the subsequent positioning data (X+1) reported by the terminal device of any one of the traveling vehicles, and determine the initial positioning data X as a trigger condition for the data credibility test. The benchmark determines whether the positioning data (X+1) satisfies the data credibility test trigger condition; wherein X is an incremental variable;

The vehicle monitoring center is further configured to perform credibility evaluation on the plurality of positioning data subsequently reported by the terminal device when the positioning data (X+1) meets the data credibility test triggering condition, according to the data credibility The evaluation result selects all valid positioning data from the plurality of positioning data, generates a corrected vehicle driving curve based on the selected positioning data, and displays the corrected vehicle driving curve to the driving vehicle driving track monitoring interface.

In the above vehicle travel track adjustment system of the present invention, the terminal device includes:

a positioning module for collecting positioning data of the traveling vehicle;

a first communication module, configured to periodically transmit the collected positioning data of the traveling vehicle to the vehicle monitoring center according to the set positioning data reporting period T;

The vehicle monitoring center includes:

a database for storing the mileage threshold S _max and the driving speed threshold V _{max of the} traveling vehicle in a positioning data reporting period T;

a display screen for displaying a vehicle travel track monitoring interface in the form of an electronic map;

a second communication module, configured to receive each terminal device in a positioning data upload period T Positioning data X and positioning data (X+1) uploaded in sequence;

a search module for finding that the positioning data X corresponds to the vehicle position P _X and the positioning data (X+1) on the vehicle monitoring map corresponds to the vehicle position P _(X+1) on the vehicle monitoring map;

The second CPU is configured to calculate the mileage S _X(X+1) and the average traveling speed V _{X (X+ )} of the traveling vehicle in the positioning data reporting period T according to the vehicle position P _X and the vehicle position P _(X+1) . ₁₎ , and the driving mileage S _{X (X + 1)} and the average traveling speed V _{X (X + 1)} and the preset driving mileage of the traveling vehicle in a positioning data reporting period T _max and driving speed The threshold V _max is compared separately;

And determining whether the mileage S _X(X+1) and the average traveling speed V _X(X+1) satisfy the set data credibility test trigger condition, and in the driving range S _X(X+1) And when the average traveling speed V _X(X+1) satisfies the set data credibility test trigger condition, the positioning data (X+1) is defined as suspicious positioning data and temporarily stored in the database, and The initial trusted value M of the positioning data from the terminal device is set to 0; the data confidence test trigger condition is as follows: S _X(X+1) ≥ Smax and/or V _X(X+1) ≥ Vmax .

In the above vehicle trajectory adjustment system of the present invention, the second communication module is further configured to continue to receive the next positioning data (X+2) reported by the terminal device;

The second CPU is further configured to calculate an actual mileage S _{(X+1) (X+2)} and an actual traveling speed V _{(X+1) (X+2) of} the traveling vehicle in the next positioning data reporting period T. , the actual mileage S _{(X+1) (X + 2)} and the actual traveling speed V _{(X + 1) (X + 2)} and the driving vehicle in a positioning data reporting period T within the mileage threshold S _max And the driving speed threshold value V _max is compared separately, and when the comparison result of S _{(X+1) (X+2)} <Smax and/or V _{(X+1) (X+2)} < Vmax is obtained, the trusted The value M is increased by 1.

In the above vehicle travel track adjustment system of the present invention, the second CPU is further configured to accumulate the trusted value M, compare the accumulated trusted value M with the set trust threshold N, and obtain M≥N. When comparing the results, the positioning data (X+2) and the N positionings reported by the terminal device are subsequently reported. Data is defined as valid positioning data;

The second CPU is further configured to obtain positioning data when comparing results of M<N, S _(X+1)(X+2) ≥ Smax and/or V _{(X+1) (X+2)} ≥ Vmax (X+1) and positioning data (X+2) are defined as drift positioning data, the drift positioning data is deleted, and the trusted value M of the positioning data from the terminal device is reset to zero.

The vehicle travel trajectory adjustment method and the vehicle travel trajectory adjustment system embodying the present invention have the following beneficial effects:

1. The vehicle monitoring center can measure the validity of the positioning data according to the dynamic change of the trusted value M of the positioning data reported by the terminal device, thereby eliminating some “drift” positioning data in the reported positioning data, thereby reducing the vehicle. The error between the vehicle driving curve “draw” of the monitoring center and the actual driving trajectory of the vehicle improves the navigation accuracy of the traveling vehicle and improves the navigation experience of the vehicle occupant;

2. The invention has made significant improvements at the software level, and the user can greatly enhance the navigation experience without the need to equip expensive terminal equipment (ie, without increasing the cost of use).

DRAWINGS

The present invention will be further described below in conjunction with the accompanying drawings and embodiments, in which:

1 is a schematic structural diagram of a vehicle speed monitoring system based on vehicle position information according to a preferred embodiment of the present invention;

2 is a structural block diagram of any terminal device of the vehicle speed monitoring system based on the vehicle position information shown in FIG. 1;

3 is a structural block diagram of a vehicle monitoring center of the vehicle speed monitoring system based on vehicle position information shown in FIG. 1;

4 is a flow chart of a vehicle speed monitoring method based on vehicle position information according to a preferred embodiment of the present invention.

detailed description

In order to solve the defect that the vehicle monitoring curve of the vehicle monitoring system “drawing” based on the collected positioning data is easy to deviate from the actual driving trajectory of the vehicle, the main innovations of the present invention are:

1) setting the data credibility test trigger condition, determining whether the positioning data reported by the traveling vehicle satisfies the data credibility test trigger condition, and performing data credibility test on the positioning data satisfying the above conditions;

2) Introducing the concept of the dynamically changeable positioning data trusted value M, the vehicle monitoring center 200 can measure the validity of the positioning data according to the dynamic change of the trusted value M of the positioning data reported by the terminal device 100, thereby eliminating the terminal Partial "drift" positioning data in the positioning data reported by the device 100.

The present invention adopts the concept of setting the data credibility test triggering condition and introducing the trusted value M of the positioning data, and the validity of the positioning data is measured by the trusted value M of the positioning data to exclude the drift reported by the terminal device 100. The design of the positioning data solves the technical problem that the vehicle monitoring system of the prior art vehicle "drawing" based on the collected positioning data seriously deviates from the actual traveling trajectory of the vehicle, and realizes that the positioning chip is not replaced, and the product is not improved. Under the condition of hardware cost, the error between the vehicle driving curve displayed on the monitoring interface of the vehicle monitoring center 200 and the actual driving trajectory of the vehicle is reduced, the navigation precision of the traveling vehicle is improved, and the navigation experience of the user is improved.

In order to make the objects of the present invention more comprehensible, the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the present invention. It is not intended to limit the invention.

The system architecture of the vehicle travel trajectory adjustment system of the present invention will be described below by taking the first preferred embodiment of the present invention as an example:

As shown in FIG. 1, the vehicle travel trajectory adjustment system of the present invention includes a plurality of terminal devices 100 respectively disposed in a plurality of traveling vehicles, and a vehicle monitoring center 200 that establishes wireless communication with the plurality of terminal devices 100. among them,

Each terminal device 100 is configured to acquire positioning data of the traveling vehicle, and periodically report the acquired positioning data to the vehicle monitoring center 200.

The vehicle monitoring center 200 is configured to receive positioning data X and positioning data (X+1) continuously reported by any terminal device 100 in a positioning data reporting period T, and use the positioning data X as a measurement of the positioning data (X). +1) Whether the judgment criterion of the data credibility test trigger condition is satisfied; in the present invention, X is an increment variable.

The vehicle monitoring center 200 is further configured to determine whether the positioning data (X+1) meets a data credibility test trigger condition, and when the positioning data (X+1) satisfies the data credibility test trigger condition, the terminal The plurality of positioning data reported by the device 100 sequentially evaluates the data credibility, selects all valid positioning data from the plurality of positioning data according to the data credibility evaluation result, and generates a corrected vehicle driving track according to the selected positioning data. And displaying the corrected vehicle travel trajectory on the traveling vehicle travel track monitoring interface.

As shown in FIG. 2, each terminal device 100 includes a first CPU 102, a positioning module 101 electrically connected to the first CPU 102, a storage module 104, and a first communication module 103.

The positioning module 101 is configured to periodically collect positioning data of the traveling vehicle where the terminal device 100 is located, and input the collected positioning data into the first CPU 102.

The first CPU 102 is configured to store the received positioning data into the storage module 104 and forward to The first communication module 103 instructs the first communication module 103 to periodically transmit the positioning data to the vehicle monitoring center 200 according to the positioning data reporting period T.

The positioning module 101 can include a GPS navigator and various positioning chips developed based on the Beidou navigation system.

As shown in FIG. 3, the vehicle monitoring center 200 of the present invention includes a second CPU 203, a lookup module electrically connected to the second CPU 203, a database 205 and a display screen 204, and a second communication module electrically connected to the lookup module.

The database 205 pre-stores the following parameters: 1. The driving mileage threshold value S _{max of the} traveling vehicle in a positioning data reporting period T; 2. The traveling speed threshold V _{max of the} traveling vehicle in a positioning data reporting period T.

The display screen 204 is configured to display a vehicle travel track monitoring interface in the form of an electronic map;

The second communication module is configured to receive positioning data X and positioning data (X+1) continuously reported by each terminal device 100 in a positioning data upload period T.

The searching module is configured to find that the positioning data X corresponds to the vehicle position P _X on the vehicle monitoring map and the positioning data (X+1) corresponds to the vehicle position P _(X+1) on the vehicle monitoring map, and the vehicle position P _X and the vehicle position P _{(X+1) are} input to the second CPU 203.

The second CPU 203 is configured to calculate the mileage S _{X (X+1)} and the average traveling speed V _{X (X )} of the traveling vehicle in the positioning data reporting period T according to the vehicle position P _X and the vehicle position P _(X+1) . ₊₁₎ , and the mileage S _{X (X+1)} and the average traveling speed V _{X (X+1)} and the preset driving mileage threshold Smax and the traveling speed of the traveling vehicle in a positioning data reporting period T The threshold V _max is compared separately.

The second CPU 203 is further configured to determine whether the mileage S _{X (X+1)} and the average traveling speed V _{X (X+1)} meet the set data credibility test trigger condition, and the mileage S _{X ( When X+1)} and the average driving speed V _X(X+1) satisfy the set data credibility test trigger condition, the positioning data (X+1) is defined as suspicious vehicle positioning data and temporarily stored in the vehicle. The database 205 is configured to simultaneously set the initial trusted value M of the positioning data from the terminal device 100 to 0; wherein, the data credibility test triggering condition of the present invention is as follows: S _X(X+1) ≥ Smax and/or V _X(X+1) ≥ Vmax.

The second communication module is configured to receive the positioning data (X+2) reported by the terminal device 100 in the next positioning data reporting period T.

The second CPU 203 is further configured to calculate the mileage S _{(X+1) (X+2)} and the average traveling speed V _{(X+1) (X+2) of} the traveling vehicle in the next positioning data reporting period T, The mileage S _{(X+1) (X+2)} and the average traveling speed V _{(X+1) (X+2) are} compared with the driving mileage threshold S _max and the driving speed threshold V _max , respectively, and S _{( When X+1)(X+2)} <Smax and/or V _(X+1)(X+2) <Vmax is compared, the trusted value M is incremented by one.

The second CPU 203 is further configured to accumulate the trusted value M, compare the accumulated trusted value M with a preset trust threshold N, and obtain a comparison result of M≥N, and determine the positioning data (X+2). And the N positioning data reported by the terminal device 100 are valid positioning data.

The second CPU 203 is further configured to compare the results of M<N,S _(X+1)(X+2) ≥Smax and/or V _(X+1)(X+2) ≥Vmax The data (X+1) and the positioning data (X+2) are defined as drift positioning data, the drift positioning data is deleted, and the trusted value M of the positioning data from the terminal device 100 is reset to zero.

Hereinafter, the flow of the vehicle travel trajectory correction method of the present invention will be described by taking the second preferred embodiment of the present invention as an example:

As shown in FIG. 4, in step S101, the vehicle travel trajectory adjustment system manager presets a vehicle positioning data upload period T (for example, 1 min) and a mileage threshold S _{max of the} traveling vehicle in the positioning data upload period T (for example, 2KM) and a travel speed threshold _Vmax (for example, 160 KM/H), and a trust threshold N (for example, 3) for determining the validity of the positioning data uploaded by the traveling vehicle terminal device 100.

In step S102, the vehicle monitoring center 200 receives the positioning data X and the positioning data (X+1) continuously reported by the terminal device 100 of any one of the traveling vehicles in a positioning data uploading period T, and calculates the driving by the second CPU 203. The mileage S _{X (X+1)} and the average traveling speed V _{X(X+1) of the} vehicle in the positioning data upload period T.

Wherein, the position point of the positioning data X corresponding to the vehicle travel track monitoring interface is represented as P _x , and the position point of the positioning data (X+1) corresponding to the vehicle travel track monitoring interface is represented as the position point P _(x+1) ;

The mileage S _X(X+1) represents the distance between the position point P _x and the position point P _(x+1) ;

The average traveling speed V _X(X+1) represents the average traveling speed of the traveling vehicle traveling from the position point P _x to the position point P _(x+1) .

In step S103, the vehicle monitoring center 200 determines by the second CPU 203 whether the mileage S _{X (X+1)} and the average traveling speed V _{X (X+1)} satisfy the set data reliability test trigger condition. In the present invention, the data confidence test trigger condition is as follows: S _X(X+1) ≥ Smax and/or V _X(X+1) ≥ Vmax.

If the second CPU 203 determines that the calculated mileage S _{X (X+1)} and the average traveling speed V _{X (X+1)} satisfy the above-mentioned data credibility test trigger condition, the next step S104 is performed; otherwise, the jump Go back to step S102.

In step S104, the vehicle monitoring center 200 defines the positioning data (X+1) as suspicious positioning data and temporarily stores it in the database 205, and at the same time, the initial trusted value M of the positioning data from the terminal device 100. Set to 0. In the present invention, M is a variable.

In step S105, the vehicle monitoring center 200 continues to receive the next positioning data (X+2) reported by the traveling vehicle terminal device 100, and calculates the traveling vehicle based on the positioning data (X+1) and the positioning data (X+2). The mileage S _{(X + 1) (X + 2)} and the average traveling speed V _{(X + 1) (X + 2) in the} period T are reported in the next positioning data.

In step S106, the second CPU 203 sets the mileage S _{(X+1) (X+2)} and the average traveling speed V _{(X+1) (X+2)} with the mileage threshold S _max and the driving speed threshold V. _Max is compared separately. If the second CPU 203 compares and obtains a comparison result of S _{(X+1) (X+2)} ≥ Smax and/or V _{(X+1) (X+2)} ≥ Vmax, step S107 is performed; as the second CPU 203 performs When the comparison result of S _{(X + 1) (X + 2)} < Smax and / or V _{(X + 1) (X + 2)} < Vmax is obtained, the next step S108 is performed.

In step S107, the second CPU 203 defines the positioning data (X+1) and the positioning data (X+2) temporarily stored in the database 205 as the drifting positioning data (i.e., the position of the indicated traveling vehicle and the actual driving vehicle). Position data that does not match the position), the positioning data defined as drift is deleted.

In step S108, the second CPU 203 increments the trusted value M by 1, and calculates the accumulated value of the trusted value M.

In step S109, the second CPU 203 determines whether the accumulated value of the trusted value M exceeds the set trust threshold N, that is, whether the value of M is greater than 3. If the accumulated value of the trusted value M is less than or equal to 3, the process returns to step S105, otherwise, the next step S110 is performed.

In step S110, the second CPU 203 defines both the positioning data (X+1) and the positioning data (X+2) as valid positioning data, and stores the positioning data defined as valid in the designated storage area of the database 205.

In step S111, the second CPU 203 reads the positioning data of the storage area specified by the database 205, generates a corrected vehicle travel track based on the positioning data, and displays the vehicle travel track on the vehicle travel track monitoring interface.

After the execution of step S111 is completed, the process jumps back to step S105.

The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the present invention. Within the scope of protection of the invention.

Claims (10)

1. A method for adjusting a vehicle travel trajectory, characterized in that the method comprises the following steps:

   S1. The vehicle monitoring center receives the initial positioning data X and the subsequent positioning data (X+1) reported by the terminal device of any traveling vehicle, and determines the initial positioning data X as a criterion for determining the trigger condition of the data credibility test. Whether the positioning data (X+1) satisfies the data credibility test trigger condition; wherein X is an incremental variable;

   S2. The vehicle monitoring center determines that the positioning data (X+1) meets the data credibility test trigger condition, and sequentially performs data credibility evaluation on the plurality of positioning data subsequently reported by the terminal device;

   S3. Select all valid positioning data from the plurality of positioning data that are subsequently reported according to the data credibility evaluation result, generate a corrected vehicle driving curve based on the valid positioning data, and display the corrected vehicle driving curve to the traveling vehicle. Travel track monitoring interface.
2. The vehicle travel trajectory adjustment method according to claim 1, further comprising the following steps before the step S1:

   S0. The positioning data reporting period T of the terminal device of the traveling vehicle is preset, the driving mileage threshold S _max of the traveling vehicle in the positioning data reporting period T, and the driving speed threshold V of the traveling vehicle in the positioning data reporting period T _Max .
3. The vehicle travel trajectory adjustment method according to claim 2, wherein the step of determining, by the vehicle monitoring center in step S1, whether the positioning data (X+1) satisfies the data credibility test trigger condition comprises:

   The search positioning data X corresponds to the vehicle position P _X and the positioning data (X+1) on the vehicle monitoring map corresponding to the vehicle position P _(X+1) on the vehicle monitoring map, according to the vehicle position P _X and the vehicle position P _{(X) +1)} calculating the actual mileage S _{X (X+1)} of the traveling vehicle in the positioning data reporting period T and the actual driving speed V _{X (X+1)} , and the actual driving range S _{X (X+1)} And the actual traveling speed V _{X(X+1) is} compared with the driving mileage threshold S _max and the driving speed threshold V _max in the positioning data reporting period T of the traveling vehicle, respectively;

   If it is determined that S _X(X+1) <S max and/or V _X(X+1) <V max, the positioning data X and the positioning data (X+1) are stored as valid vehicle positioning data in the database;

   If it is determined that S _X(X+1) ≥ S max and/or V _X(X+1) ≥ V max, it is confirmed that the positioning data (X+1) satisfies the data credibility test trigger condition, and the positioning data (X+) 1) Temporarily stored in the database 205 as suspicious vehicle location data.
4. The vehicle travel trajectory adjustment method according to claim 3, wherein the step of performing the credibility evaluation by the vehicle monitoring center for the plurality of positioning data subsequently reported by the terminal device in the step S2 comprises:

   S21. Set an initial trusted value M of the positioning data reported by the terminal device to 0.

   S22. Receive the next positioning data (X+2) reported by the terminal device, and calculate the actual driving range S _{(X+1) (X+2)} and the actual traveling speed V of the traveling vehicle in the next positioning data reporting period T. _{(X+1) (X+2)} and report the actual driving range S _{(X+1) (X+2)} and the actual driving speed V _{(X+1) (X+2)} with the driving vehicle in the positioning data The mileage threshold S _max and the driving speed threshold V _{max in the} period T are respectively compared; wherein M is a variable;

   If it is determined that S _{(X+1) (X + 2)} < S max and / or V _{(X + 1) (X + 2)} < V max , the trusted value M is incremented by 1, and the step S22 is executed in a loop.
5. The method of adjusting the trajectory of the vehicle according to claim 4, wherein the step of performing the data credibility evaluation on the plurality of positioning data that is subsequently reported by the vehicle monitoring center in the step S2 in the step S2 further comprises:

   S23. Accumulate the trusted value M, and compare the accumulated trusted value M with the set trust threshold N;

   If M≥N, the positioning data (X+2) and the subsequent N positioning data are all defined as valid positioning data, and the valid positioning data is stored in a designated storage area of the database, and the next step S3 is performed. ;

   If M < N, the process returns to step S22.
6. The vehicle travel trajectory adjustment method according to claim 5, wherein the step S22 further comprises:

   If it is determined that S _{(X+1) (X+2)} ≥ S max and / or V _{(X + 1) (X + 2)} ≥ V max, the positioning data (X + 1) and the positioning data (X + 2) Both are defined as drift positioning data, and the drift positioning data is deleted, and the trusted value M of the positioning data from the terminal device is reset to 0.
7. A vehicle travel trajectory adjustment system based on a vehicle travel trajectory adjustment method according to any one of claims 1 to 6, wherein the system includes a plurality of terminal devices disposed in a plurality of traveling vehicles, and The plurality of terminal devices establish a vehicle monitoring center for wireless communication;

   The vehicle monitoring center is configured to receive the initial positioning data X and the subsequent positioning data (X+1) reported by the terminal device of any one of the traveling vehicles, and determine the initial positioning data X as a trigger condition for the data credibility test. The benchmark determines whether the positioning data (X+1) satisfies the data credibility test trigger condition; wherein X is an incremental variable;

   The vehicle monitoring center is further configured to perform credibility evaluation on the plurality of positioning data subsequently reported by the terminal device when the positioning data (X+1) meets the data credibility test triggering condition, according to the data credibility The evaluation result selects all valid positioning data from the plurality of positioning data, generates a corrected vehicle driving curve based on the selected positioning data, and displays the corrected vehicle driving curve to the driving vehicle driving track monitoring interface.
8. The vehicle travel trajectory adjustment system according to claim 7, wherein the terminal device comprises:

   a positioning module for collecting positioning data of the traveling vehicle;

   a first communication module, configured to periodically transmit the collected positioning data of the traveling vehicle to the vehicle monitoring center according to the set positioning data reporting period T;

   The vehicle monitoring center includes:

   a database for storing the mileage threshold S _max and the driving speed threshold V _{max of the} traveling vehicle in a positioning data reporting period T;

   a display screen for displaying a vehicle travel track monitoring interface in the form of an electronic map;

   a second communication module, configured to receive positioning data X and positioning data (X+1) sequentially uploaded by each terminal device in a positioning data uploading period T;

   a search module for finding that the positioning data X corresponds to the vehicle position P _X and the positioning data (X+1) on the vehicle monitoring map corresponds to the vehicle position P _(X+1) on the vehicle monitoring map;

   The second CPU is configured to calculate the mileage S _X(X+1) and the average traveling speed V _{X (X+ )} of the traveling vehicle in the positioning data reporting period T according to the vehicle position P _X and the vehicle position P _(X+1) . ₁₎ , and the driving mileage S _{X (X + 1)} and the average traveling speed V _{X (X + 1)} and the preset driving mileage of the traveling vehicle in a positioning data reporting period T _max and driving speed The threshold V _max is compared separately;

   And determining whether the mileage S _X(X+1) and the average traveling speed V _X(X+1) satisfy the set data credibility test trigger condition, and in the driving range S _X(X+1) And when the average traveling speed V _X(X+1) satisfies the set data credibility test trigger condition, the positioning data (X+1) is defined as suspicious positioning data and temporarily stored in the database, and The initial trusted value M of the positioning data from the terminal device is set to 0; the data confidence test trigger condition is as follows: S _X(X+1) ≥S max and/or V _X(X+1) ≥ V max.
9. The vehicle travel trajectory adjustment system according to claim 8, wherein the second communication module is further configured to continue to receive the next positioning data (X+2) reported by the terminal device;

   The second CPU is further configured to calculate an actual mileage S _{(X+1) (X+2)} and an actual traveling speed V _{(X+1) (X+2) of} the traveling vehicle in the next positioning data reporting period T. , the actual mileage S _{(X+1) (X + 2)} and the actual traveling speed V _{(X + 1) (X + 2)} and the driving vehicle in a positioning data reporting period T within the mileage threshold S _max And comparing the driving speed threshold V _max and obtaining a comparison result of S _{(X+1) (X+2)} <S max and/or V _{(X+1) (X+2)} < V max , The trusted value M is increased by 1.
10. The vehicle travel trajectory adjustment system according to claim 9, wherein the second CPU is further configured to accumulate the trusted value M, and compare the accumulated trusted value M with the set trust threshold N. And obtaining a comparison result of M≥N, the positioning data (X+2) and the N positioning data reported by the terminal device are respectively defined as valid positioning data;

    The second CPU is further configured to obtain a comparison result of M<N,S _(X+1)(X+2) ≥S max and/or V _(X+1)(X+2) ≥V max The positioning data (X+1) and the positioning data (X+2) are defined as drift positioning data, the drift positioning data is deleted, and the trusted value M of the positioning data from the terminal device is reset to zero.

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