CN102445204A - Positioning Method of Elevated Road - Google Patents
Positioning Method of Elevated Road Download PDFInfo
- Publication number
- CN102445204A CN102445204A CN2010105077393A CN201010507739A CN102445204A CN 102445204 A CN102445204 A CN 102445204A CN 2010105077393 A CN2010105077393 A CN 2010105077393A CN 201010507739 A CN201010507739 A CN 201010507739A CN 102445204 A CN102445204 A CN 102445204A
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- overpass
- guider
- automobile
- localization method
- attenuation state
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000004807 localization Effects 0.000 claims description 25
- 238000010586 diagram Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Abstract
The invention provides a positioning method of an elevated road, which is used for judging when an automobile enters the elevated road from a non-elevated road and comprises the following steps: detecting whether the automobile enters the elevated road from the ramp port or not; when detecting that the automobile enters the elevated road from the ramp port, judging whether the received GPS signal is in an attenuation state continuously within a preset time; if the GPS signal is continuously in an attenuation state within the preset time, determining that the automobile runs under the elevated road; the navigation device obtains the positioning information in the current state as the ground road of the automobile under the elevated road. The positioning method of the elevated road can judge according to the strength of the GPS signal, and improves the positioning accuracy.
Description
[technical field]
The present invention relates to a kind of localization method of overpass, particularly a kind of localization method that improves the overpass of accurate positioning property.
[background technology]
High-end guider utilizes the automobile angle of inclination to judge automobile overpass up and down; For example the China's Mainland patented claim discloses a kind of Automobile automatic navigation terminal No. 200410018583.7 and judged the method whether automobile goes on overpass; The Automobile automatic navigation terminal comprises the motherboard that is located in this Automobile automatic navigation terminal, is located at the display screen and the control knob of this Automobile automatic navigation terminal front side; The input end of motherboard connects gps satellite location receiver module and map datum library module respectively, and this motherboard also is connected with the GPRS communication module is two-way; Be characterized in, also comprise the automobile formed by inclination sensor and signal processing circuit overpass judge module up and down.The judgement automobile method of overpass up and down is through the automobile angle of inclination of the output of the inclination sensor in the overpass judge module about the automobile and the GPS locator data that reads from the Automobile automatic navigation terminal; After treatment with map data base in data compare, draw the judged result whether current automobile goes on overpass.
Although the China's Mainland patented claim can be judged overpass or surface road No. 200410018583.7, its inside need be provided with automobile that hardware circuit inclination sensor and signal processing circuit form overpass judge module up and down, and cost is higher.At present, most of navigating instruments all can not be distinguished overhead and ground on the market, and for example, in original path planning, automobile should go above overpass; And under the actual state; Automobile goes on the surface road under the overpass; Guider can't judge that current location is on the surface road under the overpass, to go or above overpass, go according to the GPS locating information; Therefore, the inconsistent situation of driving path and guidance path usually occurs, can't realize correct navigation.
[summary of the invention]
Fundamental purpose of the present invention is to provide a kind of localization method that improves the overpass of accurate positioning property.
The present invention provides a kind of localization method of overpass, the judgement when being used for that automobile got into overpass by non-overpass, and it may further comprise the steps: whether the detecting automobile gets into overpass by the ring road mouth; When detecting automobile, judge whether received in the given time gps signal continues to be in attenuation state by ring road mouth entering overpass; If gps signal continues to be in attenuation state in the given time, confirm that then automobile goes under overpass; The locating information that is obtained under the current state by guider is that automobile is on the surface road under the overpass.
Especially, whether the judgement of said attenuation state is to reach below the predetermined quantity at number of satellite received behind the entrance ramp according to guider.
Especially, the judgement of said attenuation state is whether difference according to guider received number of satellite before and after the entrance ramp reaches more than the predetermined quantity.
Especially, obtain by guider locating information under the current state be automobile on the surface road under the overpass after, also comprise step, said guider carries out path planning again according to the locating information under the current state that obtains.
Especially, if judged result does not continue to be in attenuation state for gps signal in the given time, then guider navigates according to original path planning.
Especially, whether the detecting automobile is compared for supporting with figure according to the resulting locating information of guider by the detecting mode in the ring road mouth entering overpass.
The present invention also provides a kind of localization method of overpass, the judgement when being used for that automobile got into overpass by non-overpass, and it is characterized in that may further comprise the steps: whether the detecting automobile gets into overpass by the ring road mouth; When detecting automobile, judge whether received gps signal continues to be in attenuation state in preset distance by ring road mouth entering overpass; If gps signal continues to be in attenuation state in preset distance, confirm that then automobile goes under overpass; The locating information that is obtained under the current state by guider is that automobile is on the surface road under the overpass.
Especially, whether the judgement of said attenuation state is to reach below the predetermined quantity at number of satellite received behind the entrance ramp according to guider.
Especially, the judgement of said attenuation state is whether difference according to guider received number of satellite before and after the entrance ramp reaches more than the predetermined quantity.
Especially, obtain by guider locating information under the current state be automobile on the surface road under the overpass after, also comprise step, said guider carries out path planning again according to the locating information under the current state that obtains.
Especially, if judged result does not continue to be in attenuation state for gps signal in preset distance, then guider navigates according to original path planning.
Especially, whether the detecting automobile is compared for supporting with figure according to the resulting locating information of guider by the detecting mode in the ring road mouth entering overpass.
Especially, preset distance is 100 meters.
Compared with prior art, the localization method of overpass of the present invention can be judged according to the power of gps signal under the condition of the hardware circuit that does not change existing guider; Improve accurate positioning property; For example, in original path planning, automobile should go above overpass; And under the actual state; Automobile goes on the surface road under the overpass; Guider can be judged as the surface road under the overpass according to the power of gps signal; And carry out path planning again, thereby avoid the inconsistent of driving path and guidance path according to the locating information under the current state that obtains.
For the object of the invention, structural attitude and function thereof are had further understanding, conjunction with figs. specifies as follows now:
[description of drawings]
Fig. 1 is the process flow diagram of first kind of embodiment of the localization method of overpass of the present invention.
Fig. 2 is the process flow diagram of first kind of embodiment of the localization method of overpass of the present invention.
[embodiment]
See also shown in Figure 1ly, the present invention provides a kind of localization method of overpass, the judgement when being used for that automobile got into overpass by non-overpass, and it may further comprise the steps:
Step 20: whether the detecting automobile gets into overpass by the ring road mouth; If when detecting automobile by ring road mouth entering overpass, execution in step 30; If when not detecting automobile, continue execution in step 20 by ring road mouth entering overpass; Wherein, detecting mode is for comparing according to resulting locating information of guider and figure money;
Step 30: judge whether received in the given time gps signal continues to be in attenuation state; If judged result continues to be in attenuation state for gps signal in the given time, then execution in step 40, do not continue to be in attenuation state as if judged result for gps signal in the given time, and then execution in step 70;
Wherein, whether the judgement of said attenuation state is to reach below the predetermined quantity according to guider at number of satellite received behind the entrance ramp; For example, on the non-overhead highway section, the number of satellite that guider can receive is 6～8, and the number of satellite that below overpass, can receive is 0～3, and then said attenuation state is meant that received number of satellite reaches below 4 and (does not comprise 4).
Whether the judgement of said attenuation state also can reach more than the predetermined quantity according to the difference of guider received number of satellite before and after entrance ramp; The number of satellite that for example guider can receive before the entrance ramp is 8; The number of satellite that guider can receive below overpass behind the entrance ramp is 5; Before and after differ 3, then said attenuation state is meant that the difference of received number of satellite reaches more than 3 and (comprises 3).
Step 40: confirm that automobile goes under overpass;
Step 50: the locating information that is obtained under the current state by guider is that automobile is on the surface road under the overpass;
Step 60: said guider carries out path planning again according to the locating information under the current state that obtains;
Step 70: guider navigates according to original path planning, and for example, in original path planning, automobile should go above overpass, and the locating information that guider is obtained under the current state is that automobile is on overpass.
See also shown in Figure 2ly, the present invention provides a kind of localization method of overpass, the judgement when being used for that automobile got into overpass by non-overpass, and it may further comprise the steps:
Step 120: whether the detecting automobile gets into overpass by the ring road mouth; If when detecting automobile by ring road mouth entering overpass, execution in step 130; If when not detecting automobile, continue execution in step 120 by ring road mouth entering overpass; Wherein, detecting mode is for comparing according to resulting locating information of guider and figure money;
Step 130: judge whether received gps signal continues to be in attenuation state in preset distance; If judged result continues to be in attenuation state for gps signal in preset distance, then execution in step 140, if judged result does not continue to be in attenuation state for gps signal in preset distance, then execution in step 170; Wherein, preset distance can be set as required, for example can be 100 meters;
Wherein, whether the judgement of said attenuation state is to reach below the predetermined quantity according to guider at number of satellite received behind the entrance ramp; For example, on the non-overhead highway section, the number of satellite that guider can receive is 6～8, and the number of satellite that below overpass, can receive is 0～3, and then said attenuation state is meant that received number of satellite reaches below 4 and (does not comprise 4).
Whether the judgement of said attenuation state also can reach more than the predetermined quantity according to the difference of guider received number of satellite before and after entrance ramp; The number of satellite that for example guider can receive before the entrance ramp is 8; The number of satellite that guider can receive below overpass behind the entrance ramp is 5; Before and after differ 3, then said attenuation state is meant that the difference of received number of satellite reaches more than 3 and (comprises 3).
Step 140: confirm that automobile goes under overpass;
Step 150: the locating information that is obtained under the current state by guider is that automobile is on the surface road under the overpass;
Step 160: said guider carries out path planning again according to the locating information under the current state that obtains;
Step 170: guider navigates according to original path planning, and for example, in original path planning, automobile should go above overpass, and the locating information that guider is obtained under the current state is that automobile is on overpass.
The localization method of overpass of the present invention can judge according to the power of gps signal under the condition of the hardware circuit that does not change existing guider that improve accurate positioning property, for example, in original path planning, automobile should go above overpass; And under the actual state; Automobile goes on the surface road under the overpass; Guider can be judged as the surface road under the overpass according to the power of gps signal; And carry out path planning again, thereby avoid the inconsistent of driving path and guidance path according to the locating information under the current state that obtains.
Claims (13)
1. the localization method of an overpass, the judgement when being used for that automobile got into overpass by non-overpass is characterized in that may further comprise the steps:
(1) whether the detecting automobile gets into overpass by the ring road mouth;
(2) when detecting automobile, judge whether received in the given time gps signal continues to be in attenuation state by ring road mouth entering overpass;
(3), confirm that then automobile goes under overpass if gps signal continues to be in attenuation state in the given time;
(4) locating information that is obtained under the current state by guider is that automobile is on the surface road under the overpass.
2. the localization method of overpass according to claim 1, it is characterized in that: whether the judgement of said attenuation state is to reach below the predetermined quantity at number of satellite received behind the entrance ramp according to guider.
3. the localization method of overpass according to claim 1 is characterized in that: the judgement of said attenuation state is whether the difference according to guider received number of satellite before and after entrance ramp reaches more than the predetermined quantity.
4. the localization method of overpass according to claim 1 is characterized in that: in step (4) afterwards, also comprise step, said guider carries out path planning again according to the locating information under the current state that obtains.
5. the localization method of overpass according to claim 1 is characterized in that: if judged result does in the step (2), gps signal does not continue to be in attenuation state in the given time, and then guider navigates according to original path planning.
6. the localization method of overpass according to claim 1 is characterized in that: the detecting mode of step (1) is for comparing according to resulting locating information of guider and figure money.
7. the localization method of an overpass, the judgement when being used for that automobile got into overpass by non-overpass is characterized in that may further comprise the steps:
(1) whether the detecting automobile gets into overpass by the ring road mouth;
(2) when detecting automobile, judge whether received gps signal continues to be in attenuation state in preset distance by ring road mouth entering overpass;
(3), confirm that then automobile goes under overpass if gps signal continues to be in attenuation state in preset distance;
(4) locating information that is obtained under the current state by guider is that automobile is on the surface road under the overpass.
8. the localization method of overpass according to claim 7, it is characterized in that: whether the judgement of said attenuation state is to reach below the predetermined quantity at number of satellite received behind the entrance ramp according to guider.
9. the localization method of overpass according to claim 7 is characterized in that: the judgement of said attenuation state is whether the difference according to guider received number of satellite before and after entrance ramp reaches more than the predetermined quantity.
10. the localization method of overpass according to claim 7 is characterized in that: in step (4) afterwards, also comprise step, said guider carries out path planning again according to the locating information under the current state that obtains.
11. the localization method of overpass according to claim 7 is characterized in that: if judged result does in the step (2), gps signal does not continue to be in attenuation state in preset distance, and then guider navigates according to original path planning.
12. the localization method of overpass according to claim 7 is characterized in that: the detecting mode of step (1) is for comparing according to resulting locating information of guider and figure money.
13. the localization method of overpass according to claim 7 is characterized in that: the preset distance of step (2) is 100 meters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105077393A CN102445204A (en) | 2010-10-14 | 2010-10-14 | Positioning Method of Elevated Road |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105077393A CN102445204A (en) | 2010-10-14 | 2010-10-14 | Positioning Method of Elevated Road |
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| Publication Number | Publication Date |
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| CN102445204A true CN102445204A (en) | 2012-05-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010105077393A Pending CN102445204A (en) | 2010-10-14 | 2010-10-14 | Positioning Method of Elevated Road |
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| CN (1) | CN102445204A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104422426A (en) * | 2013-08-30 | 2015-03-18 | 博世汽车部件(苏州)有限公司 | Method and apparatus for providing vehicle navigation information within elevated road region |
| CN105783927A (en) * | 2014-12-22 | 2016-07-20 | 博世汽车部件(苏州)有限公司 | Method and apparatus for providing navigation information for vehicle in elevated road area |
| CN107657810A (en) * | 2016-07-26 | 2018-02-02 | 高德信息技术有限公司 | A kind of overpass action identification method and device up and down |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101476893A (en) * | 2009-01-20 | 2009-07-08 | 郑州紫辰科技开发有限公司 | Non-blind zone GPS receiving device and receiving method |
| CN102012234A (en) * | 2009-09-04 | 2011-04-13 | 陈宗炜 | Vehicle navigation device |
| CN102401660A (en) * | 2010-09-17 | 2012-04-04 | 环达电脑(上海)有限公司 | Positioning method of elevated road |
-
2010
- 2010-10-14 CN CN2010105077393A patent/CN102445204A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101476893A (en) * | 2009-01-20 | 2009-07-08 | 郑州紫辰科技开发有限公司 | Non-blind zone GPS receiving device and receiving method |
| CN102012234A (en) * | 2009-09-04 | 2011-04-13 | 陈宗炜 | Vehicle navigation device |
| CN102401660A (en) * | 2010-09-17 | 2012-04-04 | 环达电脑(上海)有限公司 | Positioning method of elevated road |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104422426A (en) * | 2013-08-30 | 2015-03-18 | 博世汽车部件(苏州)有限公司 | Method and apparatus for providing vehicle navigation information within elevated road region |
| CN104422426B (en) * | 2013-08-30 | 2017-07-11 | 博世汽车部件(苏州)有限公司 | The method and apparatus that vehicle navigation information is provided in overpass region |
| CN105783927A (en) * | 2014-12-22 | 2016-07-20 | 博世汽车部件(苏州)有限公司 | Method and apparatus for providing navigation information for vehicle in elevated road area |
| CN105783927B (en) * | 2014-12-22 | 2019-12-17 | 博世汽车部件(苏州)有限公司 | method and apparatus for providing navigation information of vehicle in elevated road area |
| CN107657810A (en) * | 2016-07-26 | 2018-02-02 | 高德信息技术有限公司 | A kind of overpass action identification method and device up and down |
| CN107657810B (en) * | 2016-07-26 | 2020-05-08 | 高德信息技术有限公司 | Method and device for recognizing actions of upper viaduct and lower viaduct |
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Application publication date: 20120509 |