CN101075375A - Apparatus for automatically tracking automobile running orbit and its monitoring method - Google Patents

Apparatus for automatically tracking automobile running orbit and its monitoring method Download PDF

Info

Publication number
CN101075375A
CN101075375A CN 200710006842 CN200710006842A CN101075375A CN 101075375 A CN101075375 A CN 101075375A CN 200710006842 CN200710006842 CN 200710006842 CN 200710006842 A CN200710006842 A CN 200710006842A CN 101075375 A CN101075375 A CN 101075375A
Authority
CN
China
Prior art keywords
module
terminal
car
central control
control module
Prior art date
Application number
CN 200710006842
Other languages
Chinese (zh)
Other versions
CN100472578C (en
Inventor
庞德兴
方中纯
刘少清
于海涛
Original Assignee
包头奥普德电子科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 包头奥普德电子科技有限公司 filed Critical 包头奥普德电子科技有限公司
Priority to CNB2007100068428A priority Critical patent/CN100472578C/en
Publication of CN101075375A publication Critical patent/CN101075375A/en
Application granted granted Critical
Publication of CN100472578C publication Critical patent/CN100472578C/en

Links

Abstract

An automatic-tracking device of vehicle movement orbit consists of vehicle terminal, service end and client end. It is featured as selecting position coordinate automatically by vehicle terminal according to preset movement path to set up highway enclosing wall, confirming specific position relative to highway enclosing wall by vehicle terminal according to highway position coordinate and actual position coordinate for judging whether vehicle is in the scope of highway enclosing wall or not.

Description

The autotracker of automobile running orbit and monitoring method

One, technical field:

The present invention relates to the autotracker and the monitoring method of automobile running orbit, be used for the remote tracing monitoring, relate to fields such as GPS, GIS, Long-distance Control.

Two, background technology:

Along with China's rapid economy development, especially behind China's accession to the WTO, growing field need be carried out effectively vehicle, the management of science.GPS is also more and more used, and to the tracking of vehicle, epoch-making revolution has been played in monitoring.Along with the development of technology, in conjunction with other networks such as GSM network, may the becoming a reality of computer network system ensemble.And along with the going deep into of mobile network, and the developing rapidly of Internet, make it the possibility that is combined into for one.

The patent No.: 200420085086.4,03268027.9 several patents have related to this aspect, but along with the increasing of data volume, to the positioning system service station, the load of computer server also is quite big.Especially in monitoring was followed the tracks of, the quantity of information that need constantly return vehicle had strengthened operating cost, and the computing levels of precision to position coordinates is restricted for single-chip microcomputer in addition.

Three, summary of the invention

Technical matters to be solved by this invention is: this on-vehicle terminal device can be in advance carries out scope to automobile running orbit or the vehicle that stops to be set, and judges whether at preset range automatically.Realization vehicle location, vehicle anti-theft and vehicle are monitored automatically, can carry out two dimension or the omnibearing tracking and monitoring of three dimensions, in the collection point of numerous roads, from the regulation road, only select in the storer of the representational information stores of small part in the central control module of car-mounted terminal, these representational information are to have adopted curve fitting algorithm, saved the storage space of hardware so greatly, volume is little, precision is high, and the reliability of system and timeliness strengthen; Realize long-range master control or from control, follow the tracks of, monitor a kind of car automatic tracking, monitoring device that expense is reduced greatly.

Technical solution:

The present invention is made up of car-mounted terminal, service end, client, and car-mounted terminal comprises: central control module, mobile phone card, GSM/GPRS module, power supply, GPS module, interface, external connection module, transport module selector switch, online programming and communication interface, voltage comparator, sensing module, power supply; Central control module and transport module selector switch, voltage comparator, sensing module, power supply, online programming and communication interface link to each other; The transport module selector switch is controlled the transmission of external connection module and GSM/GPRS module; The GSM/GPRS module links to each other with the GPS module, and service end comprises: central server, database, mobile network modulator-demodular unit; Central server links to each other with database, mobile network modulator-demodular unit respectively; Client comprises: client terminal, database;

Wherein: in the car-mounted terminal, handle through central control module from GPS module acquisition GPS warp, latitude signal, central control module will send signal in mobile phone is stuck in mobile network through, latitude signal Processing after the transport module selector switch is selected the GSM/GPRS module;

Sensing module obtains transducing signal and handles through central control module;

Voltage comparator can be monitored in real time to voltage, the result is passed to central control module handle;

The mobile network modulator-demodular unit is come the signal reception of car-mounted terminal in the service end, and is sent to central server, and central server is handled signal, and is corresponding with corresponding database, demonstrates the data that need;

The central server of service end can send to order in the mobile phone card of car-mounted terminal by the mobile network modulator-demodular unit, and be transferred in the central control module, central control module can be made the corresponding command response to the AT order of transmitting, car-mounted terminal can be on the alert or holding state, and predefined traffic route is carried out self-monitoring.

Client terminal in the client promptly needs to be connected into the specified place that internet comes query-relevant data and obtains alerting signal and warning by terminal software;

Online programming and communication interface reach central control module are carried out online programming or be connected near group system carrying out short haul connection.

Central control module is connected to LCD, GSM/GPRS module, GPS module, temperature sensor, body position sensor, battery voltage supervisory circuit, stabilized voltage supply and indicating circuit.

Central control module can be 8,16 or 32 chips.

Sensing module comprises temperature sensor, body position sensor, pressure transducer etc.

Mobile network is group system or near the wireless network between GSM/CDMA/GPRS or the fleet.

External connection module comprises: display screen, battery charger, relay module, short range radio module.Interface can be display screen interface, battery charge interface, relay interface, short range radio interface.

Car-mounted terminal is provided with temperature/pressure sensor, emergency call button, telephony mode button, transmission information of vehicles button, parameter modification button, time zone adjustment button.

From the regulation road, select in the storer of the representational information stores of small part in the central control module of car-mounted terminal, adopted curve fitting algorithm, the employing curve fitting algorithm is as follows: suppose that Kij is the slope of some i with some j formation straight line, i, j>=1.As K12 represent the 1st with the 2nd slope that forms straight line.Based on K12, whether the absolute value of judging K13, K14, K1j (j>2) and K12 difference respectively is less than a given positive constant.If less than given constant, then think at the 1st o'clock point-blank to the j point; Otherwise, then the 1st o'clock to the j-1 point as the straight line section, the rest may be inferred for later point.

Central control module starts, to the GPS module, and the GSM/GPRS module, temperature, voltage sensor carries out initialization, and response is made in relevant error message, start the GPS module after the initialization, the priority processing interrupt request is determined duty, if there is not interrupt request, terminal is in self-monitored state, under this state, terminal is determined own particular location with respect to the highway enclosure wall according to highway location coordinate data that sets in advance and actual GPS position coordinates automatically, and then makes correct response; Judge that oneself is whether in the scope of highway enclosure wall.After each module initialization, acceptor center server controls all at any time, central server can be revised the duty of on-vehicle terminal device at any time, it is on the alert or the standby shape, when the duty of end device is changed, all will send car-mounted terminal current location, temperature, pressure and state exchange information to central server, itself has emergency alert function end device.

Characteristics of the present invention:

1, this system has realized realizing highway wall automatically function effectively on the extremely limited end device of central control module resource, and the system that makes can carry out monitoring effectively economically fast and controlling to oneself position and various states parameter independently according to principle of design.This kind highway enclosure wall comprise end device in the two and three dimensions space orbit and the various states to oneself monitor and control, and make corresponding response.

2, this system passes through curve-fitting method, from the regulation road, select the representational information stores of small part in the micro controller internal memory of device, road is replaced through pretreated straight-line segment with some, according to the starting point of straight-line segment and terminating point and then find current longitude and latitude should belong on which straight-line segment fast, when seeking straight-line segment, just compare the size of longitude and latitude and do not calculate spherical distance, when finding certain bar straight-line segment, ask again current longitude and latitude to the short ball identity distance of this straight line from and compare with the scope that sets.

What 3, this system algorithm was taked is to utilize binary search that the related data in the internal memory is searched fast.Use this method can effectively utilize in the microprocessor very limited memory resource, simultaneously because each the acquisition needn't ask spherical distance (for single-chip microcomputer with the longitude and latitude of storage behind the current longitude and latitude, calculated amount is bigger) till the longitude and latitude that finds spherical distance less than setting value, thus can improve arithmetic speed significantly.

4, this system has adopted multiple function integrated, multifunctional all.The hardware resource that needs of minimizing system has significantly thus also reduced simultaneously the volume of system significantly.

5, this system cooperates with central server and can realize various types of network functions.The user can monitor in real time and its multiple function is set the end device of oneself registering by the Internet.

6, this system has powerful Control Software, and end device not only can be made quick response to the various interruptive commands of central server simultaneously strictly according to embedded program run in good time exactly.

7, this system can detect and control except the end device position is monitored the multiple systems state parameter.Such as, the entrained temperature/pressure sensor of end device can be monitored the temperature/pressure of local space under it, in case the numerical value overshoot scope of being surveyed will be reported to the police to server and intended target.End device is equipped with electric voltage observation circuit, and can monitor at any time it, takes appropriate measures according to measured result's decision.These measures are included in cutoff or whole end device in the official hour cycle, report to the police viewing hardware error message on LCD to server.End device is equipped with body position sensor, and it is monitored at any time.Such as, if speed/acceleration that records or inclination angle overshoot scope, perhaps the result of Ce Dinging indicates unusual behavior, then can report to the police to central server.

8, this system can also monitor as a certain rectangle or border circular areas the specific plane zone of regulation except monitoring automatically the space motion track of oneself.When this end device surmounts boundary, will cause warning.Central server can carry out multiple setting to this function by the gsm wireless network, as revising range size, shape, function activation, function cancellation.

9, this system can make amendment to its duty at any time.Such as, end device can be set to the highway enclosure wall and monitor automatically, after the enclosure wall monitoring finishes, changes holding state automatically over to.Under this state, end device will be accepted the control of central server passively by the GSM network, and this kind control great majority interrupt realizing by CPU is produced.Simultaneously, when end device is under a certain duty, still can accept various interruptions or, after finishing these tasks, continue to return the state before the Interrupt Process from other orders of central server.

10, the data communication between this system and the central server can realize by GSM note controlled path, also can realize by the TCP/IP digital communication network of GPRS.

11, the positioning function of this system can realize by self-contained GPS module, also can realize that perhaps the two combines by the cell phone network positioning function.But, carry out automatic monitoring function for the space motion track, because the requirement of bearing accuracy generally should realize by the GPS module.

12, the central server of this system has powerful network function.Because the data volume of map datum is generally all very big, provide data, services if use by single center map data base, then can make when the Internet user searches the state of own device, very easily make the network communication obstruction.Therefore, this system uses the map data base mode of disperseing.Be that each user is equipped with local map data base on the PC of oneself.As this user during, be longitude and latitude and other alarm parameters that calls its position coordinates by accessed server network to the data of the device of central server inquiry oneself.Therefore, on each user's terminal machine, the client terminal server is housed also.This servo server is responsible for transferring map datum to the position icon, and shows.

13, this device also is equipped with the short range radio communication module simultaneously, and this module can be carried out information communication and realize some control function with the radio communication receiving system that is installed near the same system this device.Synoptic diagram such as Fig. 4: service end can be by the radio device issue an order (master control) of the short-distance radio electric system on the car-mounted terminal near the same system it, and then to carrying out various controls with other equipment (as vehicle) that are connected.As powered-down etc., this system also allow end device directly by short-range radio network 315M/415M/900MHz to belong to same system (other short range radio sending and receiving receiving apparatus are controlled (from control) thereby the device that is connected are carried out the operation of various regulations.System can adopt multiple frequency, such as 315MHz, and 415MHz, 900MHz etc.

14, this device can be programmed by serial ports and USB mouth.

15, this device can be used in the logistics vehicle monitoring and to its control, provides a kind of commodity distribution control method, confirms in the highway enclosure wall of setting whether the position of vehicle departs from the direction of confirming logistics.Can inquire about the position of current vehicle, the basic condition of operation by this end device based on wireless network server.

16, also can the vehicle that stop to be monitored automatically automobile running orbit from motion tracking, can preestablish a scope for the vehicle that stops, can be circle, rectangle or irregular closed curve, vehicle in this scope is monitored, as run into vehicle and become motion state and exceeded preset range by stationary state, on-vehicle terminal device can be reported to the police or report to the police to predefined warning number to central server.

17, end device has emergency call button, telephony mode button, transmission information of vehicles button, parameter modification button, time time zone to adjust button.The user can self-compiling program, networking mode, and other extended function buttons.As networking voluntarily, during such as fleet operations, utilize car-mounted terminal to form group system, only need quick botton, just be convertible into telephony mode.

18, two controlling mechanisms comprise that central server main control and car-mounted terminal are from control.The command signal of coming from central server is a main signal, and the request signal from the car-mounted terminal to the server is from control.Come exchange message through wireless network.

19, extensible database and association thereof provide in time, accurately, and comprehensive information, for example: the model of car, tenure of use, insurance situation, ownership, repair, optional informations such as maintenance history.

20, car-mounted terminal can provide expansion module, and expansion module comprises geographical information state around the automobile position, such as nearest maintenace point, hotel etc.

21, temperature sensor, battery voltage supervisory circuit, body position sensor and program adopt to be optimized computing gps data is handled accuracy and fiduciary level to guarantee operation result.

22, car-mounted terminal can be succeeded electrical appliance module, is connected with oil circuit, the circuit of vehicle.Send control command by central server and come the pilot relay module, can control oil circuit, circuit of vehicle etc.

23, this car-mounted terminal can be created the highway enclosure wall voluntarily under the situation of default commercial electronic map, to reach the purpose that follow the tracks of the location.

Four, description of drawings:

Fig. 1 is system principle of the present invention and hardware connection diagram;

Fig. 2 is a vehicle terminal software design cycle synoptic diagram of the present invention;

Fig. 3 is the terminal hardware circuit theory diagrams;

Fig. 4 carries out information communication and realizes some control function synoptic diagram for radio communication sending and receiving receipts system;

Fig. 5 is the synoptic diagram of curve fitting algorithm of the present invention;

The straight-line segment figure that Fig. 6 obtains by match for the present invention.

Five, embodiment

As shown in Figure 1: automobile running orbit automatic tracking, monitoring device, form by car-mounted terminal 10, service end 20, client 30, car-mounted terminal 10 comprises: central control module U2, mobile phone card 1, GSM/GPRS module M1, power supply U1, GPS module M2, interface J1, external connection module U4, transport module selector switch U3, online programming and communication interface J2, voltage comparator 2, sensing module T1, power supply U5; Central control module U2 and transport module selector switch U3, voltage comparator 2, sensing module T1, power supply U5, online programming and communication interface J2 link to each other; Transport module selector switch U3 controls the transmission of external connection module U4 and GSM/GPRS module M1; GSM/GPRS module M1 links to each other with GPS module M2, and service end 20 comprises: central server 3, database 4, mobile network modulator-demodular unit 5; Central server 3 links to each other with database 4, mobile network modulator-demodular unit 5 respectively; Client 30 comprises: client terminal 6, database 7;

To automobile running orbit from motion tracking and monitoring car mounted terminal device software design cycle as shown in Figure 2: connect power supply U5, system start-up and initialization central control module U2, GPS module M2, GSM/GPRS module M1, temperature sensor, voltage comparator, judge whether normal initialization, if normal initialization not, enter and judge the misdirection info class, if GSM/GPRS module M1, GPS module M2 do not work, then shutdown; If voltage is low, then timer initiation is closed after 20 minutes automatically; If the temperature mistake then shows error message.If normal initialization judges network connects whether indication is arranged, if there be not indication, continue to seek the mobile network signal, if network connects indication is arranged, GPS module M2 starts, and whether GPS module M2 starts the back inquiry server and interrupt request, if interrupt request is arranged, judge interrupt type,, carry out standby if standby is interrupted, if data interruption is carried out and is interrupted preceding the hang-up; Carry out interrupt routine; Return the point of interruption after the execution.If do not have server and interrupt request, whether GPS is expired effective time in inquiry, if GPS is expired effective time, wait for GPS inquiry next time, whether arrive query time, if then do not continue inquiry to query time, if to query time, judge whether gps data is effective, if invalidly return whether inquire about GPS expired effective time, if gps data is effective, the gps data of gained is compared calculating; Judge whether standby then, if standby, and do not arrive terminal point, judge whether to cross the border,, return and wait for GPS inquiry next time if do not cross the border, if cross the border, judge whether to cross the border for the second time, if do not cross the border for the second time, return and wait for gps data inquiry next time,, report to the police if cross the border for the second time, and judge whether to cross the border always, if cross the border always, do not report to the police, send it back boundary's information and turn back to server as if time boundary in the stand-by period and wait for GPS inquiry next time.Just breakout service request can be arranged after normal initialization, breakout service request any position in the middle of the whole flow process jumps to and judges interrupt type place executive routine.

Terminal device starts the back all hardware module is carried out initialization, comprising CPU, and GPS, GSM, temperature, voltage sensor, and relevant error message made response.Start GPS module M2 after the initialization, priority processing server interrupt request is determined duty.If there is not interrupt request, car-mounted terminal 10 default settings are the highway enclosure wall, that is: terminal is in self-monitored state.Under this state, terminal is determined own particular location with respect to the highway enclosure wall according to highway location coordinate data that sets in advance and actual GPS position coordinates automatically, and then makes correct response.Device is after opening GPS module M2, and all acceptor center server 3 controls have right of priority such as the interrupt request from central server 3 to end device at any time.Central server 3 can be revised the duty of end device at any time, makes it be in the standby or the state of alert.When the duty of car-mounted terminal 10 is changed, all will send relevant warning or state exchange information to central server 3.Car-mounted terminal 10 itself has emergency alert function, and the operator can determine whether or when initiatively trigger this warning function as required.

In the car-mounted terminal 10, handle through central control module U2 from GPS module M2 acquisition GPS warp, latitude signal, sensing module T1 obtains transducing signal and handles through central control module U2, voltage comparator 2 can be monitored in real time to voltage, the result is passed to central control module U2 to be handled, central control module U2 selects the GSM/GPRS module to warp, latitude signal Processing through transport module selector switch U3, signal is sent in mobile network through mobile phone card 1.Mobile network modulator-demodular unit 5 receives the signal of car-mounted terminal 10 and comes in the service end 20, and be sent to central server 3,3 pairs of signals of central server are handled, corresponding with corresponding database 4, demonstrate the data that need, as WEBGIS (based on the Geographic Information System of Internet), alerting signal.The specified place that client terminal 6 in the client 30 comes query-relevant data and obtains alerting signal and warning by terminal software (need be connected into internet); The central server 3 of service end 20 can send to 1 li on the mobile phone card of car-mounted terminal 10 to order by mobile network modulator-demodular unit 5, and is transferred in the central control module U2, and central control module U2 can make respective response to command signal.(being on the alert or holding state) as car-mounted terminal 10.Online programming mouth and communication port J2 can carry out online programming to central control module U2.External connection module U4 comprises: display screen, battery charger, relay module, short range radio module.Interface J1 can be display screen interface, battery charge interface, relay interface, short range radio interface.

End device each several part circuit connects as shown in Figure 3.

15,16,5,6 pin of central control module U2 are connected with 6,14 pin of module M1,9 pin of light emitting diode D4, selection transport module U3 respectively, and 2,5 pin of selection transport module U3 connect 2,3 pin of central control module U2; Select 7,10 pin of transport module U3 to connect 21,24 pin of controlling external connection module U4, select 3,8 connection module M139,43 pin of transport module U3; The 52 pin sending and receiving optical diode D1 of module M1,5,6,7,8,9,11 pin of control external connection module U4 are connected with 1,2,3,4,5,6 pin of interface J1 respectively; 56,57,58,59 pin of central control module U2 are connected with 2,3,5,6 pin of online programming and communication interface J2 respectively; 60,61,62,23,24,20,32 pin of central control module U2 are connected with temperature sensor, benchmark crystal oscillator, reset switch, 3 pin of power supply U1 among voltage comparator 2, the sensing module T1 respectively; 4 pin of power supply U1 connect 4 pin of GPS module M2, and 27,28 pin of central control module U2 connect 11,12 pin of GPS module M2.

Central control module U2 can adopt 8,16,32 chips of atmel corp, and as MEGA128, AT91SAM7S256, the GSM/GPRS module can adopt the chip of WAVECOM company, SIEMENS company.The GPS module can adopt chips such as ET-312, GPS9546.

System specifically takes following working method:

The travels down that central server 20 requires vehicle stipulating, if vehicle departs from road one segment distance (as departing from 100 meters on highway left) of regulation, car-mounted terminal 10 is just made corresponding response (if being used for antitheft just to car owner's sending short message by mobile phone or warning automatically).In this supervisory system, car-mounted terminal 10 just sends the information and the present information such as position of vehicle of vehicle over-boundary to central server 3, but while alarm driver.Car-mounted terminal 10 can be monitored all position datas of the certain precision of highway.The GPS of car-mounted terminal 10 inside is in running order all the time.In the car-mounted terminal 10 central control module U2 at regular intervals (as 25 seconds) to the visit gps receiver, the position data and the core position data that obtain are compared, thereby alert data and position data are uploaded to central server 20, and directly sent alarming short message to the mobile phone of setting.

This system centre server 20 can be realized control to car-mounted terminal 10 by sending instruction to car-mounted terminal 10.10 instructions to central server 20 of car-mounted terminal are responded in real time.Central server 20 can require position, temperature data to car-mounted terminal 10.Central server 20 can be provided with timing automatic to car-mounted terminal 10 and detect the position function.If car-mounted terminal 10 testing results are found its position out-of-bounds, then can initiatively send alert data to server 20 or other assigned number.Central server 20 can be provided with the time-triggered report data function to car-mounted terminal 10 in advance or in time.Device has two kinds of duties: the state of alert and holding state.In the state of alert, car-mounted terminal 10 is in automatic self-monitoring state, when car-mounted terminal 10 when certain one or several highway is advanced, depart from predefined road if car-mounted terminal 10 is found its positions, then can send alert datas to central server 20 immediately.At holding state, 10 of car-mounted terminals are the indications of waiting for central server 20 passively.Central server 20 can change its this two kinds of duties at any time.The user can be by access to the Internet central server webpage, and then obtains the current and historic state and the data of a certain car-mounted terminal 10.Car-mounted terminal 10 itself is equipped with LCD, the display screen of car-mounted terminal 10 LCD has various data presentation functions, and car-mounted terminal 10 also is equipped with body position sensor, can be used to monitor with the state of the system of car-mounted terminal 10, such as the inclination angle, the acceleration after being impacted etc.Car-mounted terminal 10 also is equipped with phonetic function simultaneously, and the operator can keep necessary voice contact with central server 20 at any time by the GSM network.

The native system core algorithm is for can select the representational information stores of small part in the central control module U2 of car-mounted terminal 10 internal memory from the regulation road, that is: road is replaced through pretreated straight-line segment with some, only preserve the minimum relevant information of straight-line segment in internal memory, the most of longitude and latitude data in the middle of the straight-line segment are omitted fully.According to the starting point of straight-line segment and terminating point and then find current longitude and latitude should belong on which straight-line segment fast, when seeking straight-line segment, just compare the size of longitude and latitude and do not calculate spherical distance, so search fast, when finding certain bar straight-line segment, ask again current longitude and latitude to the short ball identity distance of this straight line from and compare with the scope that sets, what this system algorithm was taked is to utilize binary search that the related data in the internal memory is searched fast.Use this method can effectively utilize among the central control module U2 very limited memory resource, simultaneously because each the acquisition needn't ask spherical distance (for single-chip microcomputer with the longitude and latitude of storage behind the current longitude and latitude, calculated amount is bigger) till the longitude and latitude that finds spherical distance less than setting value, thus can improve arithmetic speed significantly.

Curve-fitting method is described:

As shown in Figure 5, suppose that Kij (i, j is between 1 to 12) forms the slope of straight line for some i and some j, represent the 1st slope with the 2nd formation straight line as K12.Basic thought is: based on K12, whether (this constant is by the specific requirement decision of concrete sum of errors project less than a given positive constant to judge the poor absolute value of K13, K14, K1j (j>2) or the like and K12 respectively, experiment shows, if the map that uses is the map datum that MAPINFO provides, then 0.02 can guarantee that actual error that the error of calculation causes is less than 30 meters).If less than given constant, then think at the 1st o'clock point-blank to the j point; Otherwise, then the 1st o'clock to the j-1 point as the straight line section.When j=5, the absolute value of K15 and K12 difference is greater than given positive constant, so obtain one from putting 1 straight-line segment to point 4 among the last figure.According to top step,,, judge that respectively whether the poor absolute value of K46, K4j (j>5) or the like and K45 is less than given positive constant based on K45 from putting 4.When j=7, the absolute value of K47 and K45 difference is greater than given positive constant, so obtain one from putting 4 straight-line segments to point 6 among the last figure.According to the method, can also obtain from putting 6 to the straight-line segment of point 9 with from putting 9 straight-line segments to point 12.Obtain 4 straight-line segments as shown in Figure 6 altogether.

In practice, in order to reduce error and to reach better fitting effect,, may need the Origin And Destination of slope or straight-line segment is carried out certain correction often according to the size of given positive constant, so just can suitably increase positive constant, thereby further reduce canned data.In our project, slope adopts Origin And Destination to form the slope of straight-line segment.

The program language of curve fitting algorithm is described:

Flag=True; The longitude and latitude that PrePoint=is the 1st; While (having the not point of the visit) { longitude and latitude of any under the CurPoint=; If (Flag) { P1=PrePoint; Flag=False; BaseK=CurPoint is to the slope of PrePoint; PrePoint=CurPoint;
Continue; TK=CurPoint is to the slope of PrePoint; If (absolute value of TK and BaseK difference is less than given positive constant) { PrePoint=CurPoint; Else { P2=PrePoint; K=P1 is to the slope of P2; B=P1 is to the intercept of P2 straight-line segment on the y axle; P1, P2, K, B are appended in the results list; Flag=True; If (Flag==False) // processing last point { P2=PrePoint; K=P1 is to the slope of P2; B=P1 is to the intercept of P2 straight-line segment on the y axle; P1, P2, K, B are appended in the results list;
          

In concrete realization, need to obtain the longitude and latitude of cartographic information and distribute necessary space to preserve straight-line segment information.This algorithm it should be noted that the slope of straight-line segment and straight-line segment on the y axle intercept ask method:

Obtain an infinitesimal and an infinity according to actual conditions, for example: the precision of the longitude and latitude of our project is behind the radix point 10, so can get 10 -11Be infinitesimal, because the minimum value of difference of longitude is zero or greater than 10 -11The maximal value of slope may for: 180 (maximum differences of latitude) are divided by 10 -11, that is: 1.8 * 10 13So, get infinite greatly 2 * 10 13

1. the straight-line segment slope asks method

If straight-line segment 2 difference of longitude at the whole story is greater than infinitesimal, then the slope of straight-line segment is:

Otherwise the slope size of straight line is infinitely great.

2. straight line on the y axle intercept ask method

If the slope of straight line is not infinitely great, then the intercept of straight line on the y axle is:

The longitude of the latitude-slope of B=initial point * initial point

Otherwise the intercept of straight line on the y axle is infinitely great.

The storing mode of data in central control module U2:

All straight lines that from above process, obtain according to the absolute value of slope whether greater than 1 or be divided into two groups smaller or equal to 1.Greater than all straight-line segments of 1, only need to preserve K, B, initial point latitude, the end point latitude of this straight-line segment for the absolute value of slope, if K be infinitely great, represent that then the whole story, 2 longitude equated, then B is an infinity, at this moment preserves the longitude of this straight-line segment with B.The ascending sort of when preserving, pressing straight-line segment initial point latitude; Smaller or equal to all straight-line segments of 1, only need to preserve K, B, initial point longitude, the end point longitude of straight-line segment for the absolute value of slope.The ascending sort of when preserving, pressing straight-line segment initial point longitude.The fundamental purpose of ordering is ready for searching.According to such method, above the real number number that need store of 12 points be: 4 * 4=16, because 4 straight-line segments, every straight-line segment can be represented with 4 real numbers.If the real number number that need store without fitting a straight line is: 12 * 2=24.The front said, here just in order to describe the thought of fitting algorithm, and not too large ground conserve memory capacity, even might increase, but in actual applications, this thought can be saved a lot of memory capacity, because the road straight line of reality is a lot.

Claims (9)

1, automobile running orbit automatic tracking, monitoring device, be made up of car-mounted terminal (10), service end (20), client (30), it is characterized in that: car-mounted terminal (10) comprising: central control module (U2), mobile phone card (1), GSM/GPRS module (M1), power supply (U1), GPS module (M2), interface (J1), external connection module (U4), transport module selector switch (U3), online programming and communication interface (J2), voltage comparator (2), sensing module (T1), power supply (U5); Central control module (U2) links to each other with transport module selector switch (U3), voltage comparator (2), sensing module (T1), power supply (U5), online programming and communication interface (J2); Transport module selector switch (U3) is controlled the transmission of external connection module (U4) and GSM/GPRS module (M1); GSM/GPRS module (M1) links to each other with GPS module (M2), and service end (20) comprising: central server (3), database (4), mobile network modulator-demodular unit (5); Central server (3) links to each other with database (4), mobile network modulator-demodular unit (5) respectively; Client (30) comprising: client terminal (6), database (7);
Wherein: in the car-mounted terminal (10), handle through central control module (U2) from GPS module (M2) acquisition GPS warp, latitude signal, central control module (U2) will send signal in mobile network through mobile phone card (1) through, latitude signal Processing after transport module selector switch (U3) is selected GSM/GPRS module (M1);
Sensing module (T1) obtains transducing signal and handles through central control module (U2);
Voltage comparator (2) can be monitored in real time to voltage, the result is passed to central control module (U2) handle;
Mobile network modulator-demodular unit (5) is come the signal reception of car-mounted terminal (10) in the service end (20), and is sent to central server (3), and central server (3) is handled signal, and is corresponding with corresponding database (4), demonstrates the data that need;
The central server (3) of service end (20) can send to order 1 li on the mobile phone card of car-mounted terminal (10) by mobile network modulator-demodular unit (5), and be transferred to central control module (U2) lining, central control module (U2) can be made the corresponding command response to the AT order of transmitting, car-mounted terminal (10) can be on the alert or holding state, and predefined traffic route is carried out self-monitoring;
Client terminal (6) in the client (30) promptly needs to be connected into the specified place that internet comes query-relevant data and obtains alerting signal and warning by terminal software;
Online programming and communication interface (J2) reach central control module (U2) are carried out online programming or be connected near group system carrying out short haul connection.
2, automobile running orbit automatic tracking, monitoring device according to claim 1, it is characterized in that: central control module (U2) is connected to LCD, GSM/GPRS module, GPS module, temperature sensor, body position sensor, battery voltage supervisory circuit, stabilized voltage supply and indicating circuit.
3, automobile running orbit automatic tracking, monitoring device according to claim 1 is characterized in that: central control module (U2) can be 8,16 or 32 chips.
4, automobile running orbit automatic tracking, monitoring device according to claim 1, it is characterized in that: sensing module T1 comprises temperature sensor, body position sensor, pressure transducer etc.
5, automobile running orbit automatic tracking, monitoring device according to claim 1 is characterized in that: mobile network is group system or near the wireless network between GSM/CDMA/GPRS or the fleet.
6, automobile running orbit automatic tracking, monitoring device according to claim 1, it is characterized in that: external connection module (U4) comprising: display screen, battery charger, relay module, short range radio module; Interface (J1) can be display screen interface, battery charge interface, relay interface, short range radio interface.
7, automobile running orbit automatic tracking, monitoring device according to claim 1 is characterized in that: car-mounted terminal (10) is provided with temperature/pressure sensor, emergency call button, telephony mode button, transmission information of vehicles button, parameter modification button, time zone adjustment button.
8, automobile running orbit automatic tracking, monitoring device according to claim 1, it is characterized in that: from the regulation road, select in the storer of the representational information stores of small part in the central control module (U2) of car-mounted terminal (10), adopted curve fitting algorithm; The employing curve fitting algorithm is as follows: suppose that Kij is the slope of some i with some j formation straight line, i, j>=1; As K12 represent the 1st with the 2nd slope that forms straight line.Based on K12, whether the absolute value of judging K13, K14, K1j (j>2) and K12 difference respectively is less than a given positive constant; If less than given constant, then think at the 1st o'clock point-blank to the j point; Otherwise, then the 1st o'clock to the j-1 point as the straight line section, the rest may be inferred for later point.
9, automobile running orbit automatic tracking, monitoring method according to claim 1, it is characterized in that: central control module (U2) starts, to GPS module (M2), GSM/GPRS module (M1), temperature, voltage sensor carries out initialization, and relevant error message made response, start GPS module, priority processing interrupt request after the initialization, determine duty, if there is not interrupt request, terminal is in self-monitored state, under this state, terminal is determined own particular location with respect to the highway enclosure wall according to highway location coordinate data that sets in advance and actual GPS position coordinates automatically, and then makes correct response; Judge that oneself is whether in the scope of highway enclosure wall; After each module initialization, acceptor center server controls all at any time, central server can be revised the duty of on-vehicle terminal device at any time, it is on the alert or the standby shape, when the duty of end device is changed, all will send car-mounted terminal current location, temperature, pressure and state exchange information to central server, end device itself has the emergency alarm device.
CNB2007100068428A 2007-01-31 2007-01-31 Apparatus for automatically tracking automobile running orbit and its monitoring method CN100472578C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNB2007100068428A CN100472578C (en) 2007-01-31 2007-01-31 Apparatus for automatically tracking automobile running orbit and its monitoring method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNB2007100068428A CN100472578C (en) 2007-01-31 2007-01-31 Apparatus for automatically tracking automobile running orbit and its monitoring method

Publications (2)

Publication Number Publication Date
CN101075375A true CN101075375A (en) 2007-11-21
CN100472578C CN100472578C (en) 2009-03-25

Family

ID=38976401

Family Applications (1)

Application Number Title Priority Date Filing Date
CNB2007100068428A CN100472578C (en) 2007-01-31 2007-01-31 Apparatus for automatically tracking automobile running orbit and its monitoring method

Country Status (1)

Country Link
CN (1) CN100472578C (en)

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009079951A1 (en) * 2007-12-24 2009-07-02 Caterpillar Inc. A saving power system and method for managing communication of a moving object
CN101727758B (en) * 2009-12-15 2011-06-29 浙江工业大学 Short-range wireless communication based danger warning information transfer method for vehicle
CN102231061A (en) * 2011-05-23 2011-11-02 南车株洲电力机车有限公司 Information control unit used in TAD type series dryers
CN102298854A (en) * 2011-06-23 2011-12-28 河南伯示麦新能源科技有限公司 Vehicle positioning equipment and positioning method thereof
WO2012012930A1 (en) * 2010-07-27 2012-02-02 Tsai Wen-Kai Vehicular instant positioning and tracking system
CN102354435A (en) * 2011-07-05 2012-02-15 成都智汇科技有限公司 Intelligent warning device based on geographic information system (GIS)
CN102378989A (en) * 2009-04-03 2012-03-14 克朗设备公司 Information system for industrial vehicles
CN102638812A (en) * 2011-02-12 2012-08-15 苏州达联信息科技有限公司 Business registration method and device for railway track monitoring and sensing network
CN102642153A (en) * 2011-12-31 2012-08-22 青岛国华电子有限公司 Vehicular multi-police mobile information acquiring, positioning and radio command management terminal system
CN102842194A (en) * 2011-06-24 2012-12-26 深圳中兴力维技术有限公司 Antitheft device, antitheft system and antitheft method
CN102881183A (en) * 2012-09-28 2013-01-16 方正国际软件有限公司 Public transport line bamboo joint map real-time interactive system
CN102944246A (en) * 2012-10-30 2013-02-27 湖南赛格导航技术研究有限公司 Vehicle route offset monitoring system
CN103680131A (en) * 2013-12-11 2014-03-26 深圳市众鸿科技股份有限公司 Vehicle monitoring system and method for monitoring vehicle thereof
CN103869332A (en) * 2012-12-18 2014-06-18 江南大学 Wireless tracking system for valuables
CN103970111A (en) * 2013-01-29 2014-08-06 北京金奔腾汽车科技有限公司 Automobile computer diagnostic instrument capable of cross-border reminding
CN104821076A (en) * 2015-05-14 2015-08-05 福建农林大学 Multifunctional remote control device
CN104952273A (en) * 2015-07-17 2015-09-30 东方网力科技股份有限公司 Warning method, device and system aiming at vehicle behaviors
CN104978831A (en) * 2015-03-30 2015-10-14 重庆邮电大学 Safety early-warning starting method and system
TWI512691B (en) * 2010-04-23 2015-12-11 Chunghwa Telecom Co Ltd A Method for Judging Vehicle Routing
CN105355075A (en) * 2015-11-03 2016-02-24 浙江中烟工业有限责任公司 Vehicle positioning monitoring system
CN105700435A (en) * 2016-03-07 2016-06-22 上海神舟汽车节能环保有限公司 Vehicle remote monitoring system
CN105843089A (en) * 2011-08-17 2016-08-10 秦皇岛天业通联重工科技有限公司 Method of controlling vehicle terminal
CN103391185B (en) * 2013-08-12 2017-06-16 北京泰乐德信息技术有限公司 A kind of cloud security storage of track traffic Monitoring Data and processing method and system
CN107368538A (en) * 2017-06-23 2017-11-21 芜湖恒天易开软件科技股份有限公司 User behavior data acquisition system
CN107399209A (en) * 2017-07-29 2017-11-28 千寻位置网络有限公司 The monitoring method and system of vehicle tire pressure, car terminals, memory
US10013815B2 (en) 2006-12-13 2018-07-03 Crown Equipment Corporation Information system for industrial vehicles

Cited By (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10013815B2 (en) 2006-12-13 2018-07-03 Crown Equipment Corporation Information system for industrial vehicles
US8626107B2 (en) 2007-12-24 2014-01-07 Caterpillar Inc. System and method for managing communication of a moveable entity for energy conservation
WO2009079951A1 (en) * 2007-12-24 2009-07-02 Caterpillar Inc. A saving power system and method for managing communication of a moving object
CN102378989A (en) * 2009-04-03 2012-03-14 克朗设备公司 Information system for industrial vehicles
CN101727758B (en) * 2009-12-15 2011-06-29 浙江工业大学 Short-range wireless communication based danger warning information transfer method for vehicle
TWI512691B (en) * 2010-04-23 2015-12-11 Chunghwa Telecom Co Ltd A Method for Judging Vehicle Routing
WO2012012930A1 (en) * 2010-07-27 2012-02-02 Tsai Wen-Kai Vehicular instant positioning and tracking system
CN102638812A (en) * 2011-02-12 2012-08-15 苏州达联信息科技有限公司 Business registration method and device for railway track monitoring and sensing network
CN102231061A (en) * 2011-05-23 2011-11-02 南车株洲电力机车有限公司 Information control unit used in TAD type series dryers
CN102298854A (en) * 2011-06-23 2011-12-28 河南伯示麦新能源科技有限公司 Vehicle positioning equipment and positioning method thereof
CN102842194A (en) * 2011-06-24 2012-12-26 深圳中兴力维技术有限公司 Antitheft device, antitheft system and antitheft method
CN102842194B (en) * 2011-06-24 2016-08-03 深圳中兴力维技术有限公司 A kind of anti-theft device, system and method
CN102354435A (en) * 2011-07-05 2012-02-15 成都智汇科技有限公司 Intelligent warning device based on geographic information system (GIS)
CN105843089A (en) * 2011-08-17 2016-08-10 秦皇岛天业通联重工科技有限公司 Method of controlling vehicle terminal
CN102642153A (en) * 2011-12-31 2012-08-22 青岛国华电子有限公司 Vehicular multi-police mobile information acquiring, positioning and radio command management terminal system
CN102881183A (en) * 2012-09-28 2013-01-16 方正国际软件有限公司 Public transport line bamboo joint map real-time interactive system
CN102944246A (en) * 2012-10-30 2013-02-27 湖南赛格导航技术研究有限公司 Vehicle route offset monitoring system
CN103869332A (en) * 2012-12-18 2014-06-18 江南大学 Wireless tracking system for valuables
CN103970111A (en) * 2013-01-29 2014-08-06 北京金奔腾汽车科技有限公司 Automobile computer diagnostic instrument capable of cross-border reminding
CN103391185B (en) * 2013-08-12 2017-06-16 北京泰乐德信息技术有限公司 A kind of cloud security storage of track traffic Monitoring Data and processing method and system
CN103680131A (en) * 2013-12-11 2014-03-26 深圳市众鸿科技股份有限公司 Vehicle monitoring system and method for monitoring vehicle thereof
CN104978831B (en) * 2015-03-30 2018-11-09 重庆邮电大学 A kind of safe early warning startup method and system
CN104978831A (en) * 2015-03-30 2015-10-14 重庆邮电大学 Safety early-warning starting method and system
CN104821076A (en) * 2015-05-14 2015-08-05 福建农林大学 Multifunctional remote control device
CN104952273A (en) * 2015-07-17 2015-09-30 东方网力科技股份有限公司 Warning method, device and system aiming at vehicle behaviors
CN105355075A (en) * 2015-11-03 2016-02-24 浙江中烟工业有限责任公司 Vehicle positioning monitoring system
CN105700435A (en) * 2016-03-07 2016-06-22 上海神舟汽车节能环保有限公司 Vehicle remote monitoring system
CN107368538A (en) * 2017-06-23 2017-11-21 芜湖恒天易开软件科技股份有限公司 User behavior data acquisition system
CN107399209A (en) * 2017-07-29 2017-11-28 千寻位置网络有限公司 The monitoring method and system of vehicle tire pressure, car terminals, memory

Also Published As

Publication number Publication date
CN100472578C (en) 2009-03-25

Similar Documents

Publication Publication Date Title
JP6130021B2 (en) Transition of mixed mode vehicle to autonomous mode
US9933784B1 (en) Augmented trajectories for autonomous vehicles
US10718622B2 (en) Determining pickup and destination locations for autonomous vehicles
EP2914931B1 (en) Method and system for generating a horizon for use in an advanced driver assistance system (adas)
CN102723001B (en) Implementation method of speed feedback sign system for bend steering vehicle speed safety state prewarning
US10023231B2 (en) Parking autonomous vehicles
CN104269070B (en) Active vehicle safety pre-warning method and safety pre-warning system with same applied
JP6736293B2 (en) Method and system for displaying enhanced turn-by-turn guidance on a personal navigation device
US9805593B2 (en) Method for communication within an, in particular wireless, motor vehicle communication system interacting in an ad-hoc manner, device for the traffic infrastructure and road user device
US8949022B1 (en) Cloud based activity monitor for human powered vehicle
US8712104B2 (en) Traffic signal mapping and detection
DE102016124109A1 (en) Vehicle energy management for the use of the operator's travel data
CN103325247B (en) Method and system for processing traffic information
CA3025034A1 (en) Facilitating rider pick-up for a self-driving vehicle
JP5970070B2 (en) Electric vehicle charging support system and charging support method
US8498805B2 (en) System and method for passive location storage
CN1149892C (en) Downloading geographical data to mobile station and displaying map
US7643938B2 (en) Location confirmation method and location display system of construction machine and such construction machine
JP6380274B2 (en) Navigation device for autonomous vehicles
JP3866532B2 (en) Mobile object safe operation support apparatus and computer program
US10152889B2 (en) Predicting that a parking space is about to be vacated
EP2533225B1 (en) Management system for moving machines
EP2620927B1 (en) Section setting method, mileage information generation device, and operation assist device
CN103996293B (en) The real-time road condition acquiring inquiry system of working in coordination with based on automobile friend and collection querying method
US9062982B2 (en) Pre-loading waypoint data

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20090325

Termination date: 20120131