CN103697897A - Inflection point compensation of vehicle track information - Google Patents
Inflection point compensation of vehicle track information Download PDFInfo
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- CN103697897A CN103697897A CN201310650271.7A CN201310650271A CN103697897A CN 103697897 A CN103697897 A CN 103697897A CN 201310650271 A CN201310650271 A CN 201310650271A CN 103697897 A CN103697897 A CN 103697897A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The invention discloses an inflection point compensation measurement method of vehicle track information. The method comprises a vehicle state judging step, an inflection point judging step and a data uploading step, wherein the inflection point judging step comprises: continuously measuring the turning angle between each two points, calculating the sum alpha of the turning angles of N continuous measurement points, and determining to enter a turning state if the absolute value of alpha is larger than beta; the data uploading step comprises: intermittently uploading data with frequency K1 after entering the turning state, and recovering the data uploading frequency to default frequency K0 when the turning state is finished, wherein K1 is larger than K0; beta is a preset angle threshold, and N is a preset judging number. By adopting the inflection point compensation measurement method of vehicle track information disclosed by the invention, the inflection point compensation mechanism is increased on the basis of isochronous or equidistant collection, a collection point is increased only when vehicle turning is detected so as to reduce the transmission data size of GPRS (General Packet Radio Service), and angles of continuous sampling points are accumulated and calculated to overcome the possible misinformation under small curvature and large turning radius.
Description
Technical field
The invention belongs to transit equipment field, relate to a kind of flex point compensating measurement method of track of vehicle.
Background technology
Geography information positioning system is comprised of Aerospace Satellite, user receiving equipment, wireless data communication equipment and ground surveillance opertaing device four parts.Locating module passes through receiving satellite signal, just can determine the accurate data of self receiver present position, these data messages are sent to and are controlled command centre by wireless system for transmitting data, by the equipment of controlling command centre, carry out data analysis and processing, and the Geographic Information System configuring by centring system and high resolving power electronic console, the real time position of locating module is presented on electronic chart.
Conventionally, the cycle that locating module (for example GPS module or Big Dipper module) produces sampled data is 1 second, if describe the running orbit of vehicle with such sample frequency, even if when vehicle turning, also can clearly describe the driving trace of vehicle, but if the sampling period of still usining in actual applications 1 second returns frequency as vehicle position information, can there is following drawback, 1), passback frequency too high meeting causes terminal data processing too frequent 2), the high transmitting data stream amount cost that causes of passback frequency increases.Based on above reason, terminal user is often made as passback frequency 10-30 and uploads a locating information second.In most cases (road conditions are more straight), such passback frequency also can reflect the running orbit of vehicle substantially, still, once occur turning round, the running orbit of vehicle will return underfrequency because of locating information, causes corner loss of data and can not show real running orbit.
In car-mounted terminal industry, the solution that relates to this class problem is less, for example application number is the patent of invention of " 200810036424.8 ", it is that variation by angle reaches a fixed value and judges that vehicle enters turn condition, by operation fixed range or time, increase sampled point again, abstract is as follows: " in continuous 3 signaling points of GPS that receive at GPS, angle per second changes over 10 degree; Definition enters into turn condition, and under this state, move distance surpasses 15 meters, or the time surpassed for 5 seconds, just record next sampled point ".The method also can be improved the running orbit at vehicle turning place to a certain extent.But there are some careless omissions aspect processing details in this type of scheme.
To with compared with low velocity by the less slow curved processing of curvature, the judgement of flex point is based on 3 continuous anchor points of front and back, between adjacent 2 points, be spaced apart 1 second, if vehicle is with compared with low velocity during by less slow curved of curvature, the angle of turning round of each point likely | α | be less than 10 degree, now vehicle reality is turned round, but terminal can not judge in time.
To preventing the processing of drift, in practical application due to locating module self design defect or other outside causes, often there is drift phenomenon in locating module, namely vehicle is when being not activated, self has produced speed locating module, likely meet in this case the condition that flex point produces, thereby produce unnecessary locating information data upload, affect describing of vehicle real trace.
Summary of the invention
For overcoming existing vehicle, in corner track collection, measure the data upload amount existing technological deficiency large, that easily judge by accident in the little place of the radius-of-curvature of turning round, the invention discloses a kind of flex point compensating measurement method of track of vehicle.
The flex point compensating measurement method of a kind of track of vehicle of the present invention, comprise vehicle-state determining step, flex point determining step and data upload step, described flex point determining step comprises: the angle of turning round between every 2 of continuous coverage, calculate the angle sum α that turns round of N continuous coverage point, if | α | > β, thinks the state of turning round that enters; Described data upload step is: after entering the state of turning round, carry out frequency and be the interval data of K1 and upload, after the state of turning round finishes, data upload is recovered default frequency K0, and described K1 is greater than K0; Described β is default angle threshold, and N is default judgement number.
Preferably, described vehicle-state determining step is specially: in duration T, vehicle positioning module is greater than V all the time, think that vehicle is in transport condition, described V is default threshold speed, if vehicle, in non-transport condition, does not carry out data upload in follow-up data upload step.
Further, described V is not less than 3.5 kilometers/hour, 1 second≤T≤5 second.
Preferably, in described interval data upload procedure, when vehicle operating interval often surpasses M, upload a secondary data, described M is default interval steps.
Further, described interval steps M is less than 5 meters.
Preferably, it is characterized in that, also comprise the step that each parameter preset is set in advance.
Adopt the flex point compensating measurement method of track of vehicle of the present invention, when waiting or equidistantly gather on basis, increase flex point compensation mechanism, when vehicle turning being detected, just increase collection point, thereby reduce the transmitted data amount of GPRS, by the cumulative statistics of continuous sampling point angle, overcome the wrong report that may occur under the large turning radius of small curve.
Accompanying drawing explanation
Fig. 1 is a kind of embodiment schematic diagram of the flex point compensating measurement method of a kind of track of vehicle of the present invention.
Embodiment
Below the specific embodiment of the present invention is described in further detail.
A kind of flex point compensating measurement method of track of vehicle, comprise vehicle-state determining step, flex point determining step and data upload step, described flex point determining step comprises: the angle of turning round between every 2 of continuous coverage, calculate the angle sum α that turns round of N continuous coverage point, if | α | > β, thinks the state of turning round that enters; Described data upload step is: after entering the state of turning round, carry out frequency and be the interval data of K1 and upload, after the state of turning round finishes, data upload is recovered default frequency K0, and described K1 is greater than K0; Described β is default angle threshold.
Vehicle-state determining step is motion to vehicle or staticly judges, when vehicle is kept in motion, flex point is judged, in the present invention, flex point is judged as: the angle of turning round between two measurement points of locating module continuous coverage, calculate total angle sum α that turns round of N continuous coverage point, because the angle of turning round is vector, therefore get its absolute value and judge, if | α | be greater than default scalar value β, think to turn round.
In prior art, the upload frequencies of track of vehicle is the higher or lower defect that all exists, upload frequencies is high means that uploading data amount is large, at vehicle, keep straight on the stage, big data quantity causes the wasting of resources, and upload frequencies is low can not correctly be described at the track that turns round of corner vehicle.
In the present invention, at judgement vehicle, enter after the state of turning round, carrying out frequency and be the interval data of K1 uploads, be 1/K1 the interval time that is data upload, until judge the state of turning round in flex point determining step, finishes, and the frequency retrieval that interval data is uploaded is default frequency K0.
The present invention increases sampled data upload frequencies judging after vehicle enters the state of turning round, overcome the drawback that prior art sample frequency immobilizes and exists, the cumulative measurement point angle sum of judgement utilization of state of turning round realizes, and has overcome the wrong report that may occur under the large turning radius of small curve.
In the present invention, user can prepare each parameter preset voluntarily, for example the upload frequencies K1 according to the data upload frequencies K0 of wireless network signal transmission quality adjustment acquiescence and while turning round.
The invention provides a kind of preferred vehicle-state determining step, although simply judge the speed of locating module self, can make the judgement of vehicle-state, but the design defect due to locating module self, locating module still usually drifts about when the stationary vehicle to the coordinate judgement of oneself, a kind of vehicle-state determining step of the present invention is specially: in duration T, vehicle positioning module is greater than V all the time, described V is default threshold speed, now think that vehicle is in transport condition, if vehicle is in non-transport condition, in follow-up data upload step, do not carry out data upload.
In most cases, the drift velocity of vehicle positioning module can be over 3.5 kilometers/hour, the drift of vehicle positioning module continues at 1-5 in time second, the shake that the duration T set is too short can not get rid of car and stop time, the vibration for example, causing when close door is got thing, a typical set-up mode is T=3 second, V=3 kilometer/hour.
Uploading also of sampled data can adopt equidistantly and upload, the raw information receiving due to locating module is the variation of self-position, the definition of sampled point and measurement point is more suitable for adopting equidistant transmission mode, in interval data upload procedure, when vehicle operating interval often surpasses M, upload a secondary data, described M is default interval steps.For example, to common urban road minor radius right-angled bend, M can be set to 1 meter, is generally no more than 5 meters, and the track that turns round obtaining after surpassing 5 meters is by serious distortion.
As Fig. 1 illustrates embodiment of the present invention, after locating terminal start, vehicle-state is judged whether in transport condition, if vehicle remains static, even if think that locating module measures displacement or turns round, also belong to the drift of locating module self, do not carry out data upload.
Judge vehicle after transport condition, locating module starts to start to measure according to self arranging, the spacing of each measurement point can be with timing definition, also can define with displacement, for example, get N=10, β=10 degree, locating module be take time order and function as order, measure the Angulation changes sum α of continuous 10 measurement points, when | α | when >10 spends, think that vehicle enters the state of turning round.
Vehicle enters after the state of turning round, start to increase sample frequency to K1, locating module continues to calculate aforesaid measurement point angle simultaneously, judge that whether vehicle is in the state of turning round, once think no longer in the state of turning round, exit the uploading data state of high-frequency sampling, return to the data upload of lower default frequency K0.
Adopt the flex point compensating measurement method of track of vehicle of the present invention, when waiting or equidistantly gather on basis, increase flex point compensation mechanism, when vehicle turning being detected, just increase collection point, thereby reduce the transmitted data amount of GPRS, by the cumulative statistics of continuous sampling point angle, overcome the wrong report that may occur under the large turning radius of small curve.
The software module that the method that in the present invention, the disclosed embodiments are described or the step of algorithm can directly use hardware, processor to carry out, or the combination of the two is implemented.Software module can be placed in the storage medium of any other form known in random access memory (RAM), internal memory, ROM (read-only memory) (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field.
Previously described is each preferred embodiment of the present invention, preferred implementation in each preferred embodiment is if not obviously contradictory or take a certain preferred implementation as prerequisite, each preferred implementation arbitrarily stack combinations is used, design parameter in described embodiment and embodiment is only the invention proof procedure for clear statement inventor, not in order to limit scope of patent protection of the present invention, scope of patent protection of the present invention is still as the criterion with its claims, the equivalent structure that every utilization instructions of the present invention and accompanying drawing content are done changes, in like manner all should be included in protection scope of the present invention.
Claims (6)
1.
?a kind of flex point compensating measurement method of track of vehicle, comprise vehicle-state determining step, flex point determining step and data upload step, it is characterized in that, described flex point determining step comprises: the angle of turning round between every 2 of continuous coverage, calculate the angle sum α that turns round of N continuous coverage point, if | α | > β, thinks the state of turning round that enters; Described data upload step is: after entering the state of turning round, carry out frequency and be the interval data of K1 and upload, after the state of turning round finishes, data upload is recovered default frequency K0, and described K1 is greater than K0; Described β is default angle threshold, and N is default judgement number.
2. the flex point compensating measurement method of a kind of track of vehicle as claimed in claim 1, it is characterized in that, described vehicle-state determining step is specially: in duration T, vehicle positioning module is greater than V all the time, think that vehicle is in transport condition, described V is default threshold speed, if vehicle, in non-transport condition, does not carry out data upload in follow-up data upload step.
3. the flex point compensating measurement method of a kind of track of vehicle as claimed in claim 2, is characterized in that, described V is not less than 3.5 kilometers/hour, 1 second≤T≤5 second.
4. the flex point compensating measurement method of a kind of track of vehicle as claimed in claim 1, is characterized in that, in described interval data upload procedure, when vehicle operating interval often surpasses M, uploads a secondary data, and described M is default interval steps.
5. the flex point compensating measurement method of a kind of track of vehicle as claimed in claim 4, is characterized in that, described interval steps M is less than 5 meters.
6. the flex point compensating measurement method of a kind of track of vehicle as described in claim 1-5 any one, is characterized in that, also comprises the step that each parameter preset is set in advance.
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Cited By (17)
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| CN104154922A (en) * | 2014-08-05 | 2014-11-19 | 华为技术有限公司 | Route navigating method, server and mobile terminal |
| CN104215249A (en) * | 2014-08-26 | 2014-12-17 | 厦门市润铭电子科技有限公司 | Smoothening method of driving track |
| CN104359474A (en) * | 2014-10-27 | 2015-02-18 | 同辉佳视（北京）信息技术股份有限公司 | Rapid way finding positioning method and shopping guide machine |
| CN104464028A (en) * | 2014-12-04 | 2015-03-25 | 江苏天安智联科技股份有限公司 | Method for acquiring vehicle traveling track data |
| CN105607097A (en) * | 2015-09-01 | 2016-05-25 | 江苏南亿迪纳数字科技发展有限公司 | GID dish-like trajectory algorithm |
| CN105702075A (en) * | 2016-03-24 | 2016-06-22 | 苏州数字地图信息科技股份有限公司 | Method and system for monitoring vehicle track |
| CN106017469A (en) * | 2016-05-06 | 2016-10-12 | 深圳市元征科技股份有限公司 | Data acquisition cycle adjusting method and device |
| CN106935032A (en) * | 2017-04-24 | 2017-07-07 | 广州日滨科技发展有限公司 | A kind of on-vehicle positioning terminal data uploading method and system |
| CN107084731A (en) * | 2016-02-16 | 2017-08-22 | 中移物联网有限公司 | Optimize vehicle positioning track approach and device |
| CN107589436A (en) * | 2017-09-21 | 2018-01-16 | 深圳市中兴物联科技有限公司 | The compensation method of vehicle driving trace and device, computer-readable recording medium |
| CN108240813A (en) * | 2016-12-23 | 2018-07-03 | 北京四维图新科技股份有限公司 | Obtain the method and apparatus of the practical wheelpath of vehicle, the storage method and air navigation aid of history of driving a vehicle |
| CN110161544A (en) * | 2018-04-16 | 2019-08-23 | 腾讯科技（深圳）有限公司 | A kind of recognition methods of vehicle driving state, device and storage medium |
| CN111024096A (en) * | 2019-11-08 | 2020-04-17 | 安徽中科美络信息技术有限公司 | Vehicle positioning data uploading method and vehicle-mounted terminal |
| CN111208482A (en) * | 2020-02-28 | 2020-05-29 | 成都汇蓉国科微系统技术有限公司 | Radar precision analysis method based on distance alignment |
| CN111879338A (en) * | 2020-07-28 | 2020-11-03 | 安徽中科美络信息技术有限公司 | Electronic map-based driving track planning compensation method and device |
| CN113267196A (en) * | 2021-05-19 | 2021-08-17 | 中移智行网络科技有限公司 | Vehicle track correction method, terminal and computer-readable storage medium |
| CN113554891A (en) * | 2021-07-19 | 2021-10-26 | 江苏南大苏富特智能交通科技有限公司 | Method for constructing electronic map road network based on bus GPS track |
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| CN105702075A (en) * | 2016-03-24 | 2016-06-22 | 苏州数字地图信息科技股份有限公司 | Method and system for monitoring vehicle track |
| CN106017469A (en) * | 2016-05-06 | 2016-10-12 | 深圳市元征科技股份有限公司 | Data acquisition cycle adjusting method and device |
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| CN107589436A (en) * | 2017-09-21 | 2018-01-16 | 深圳市中兴物联科技有限公司 | The compensation method of vehicle driving trace and device, computer-readable recording medium |
| CN110161544A (en) * | 2018-04-16 | 2019-08-23 | 腾讯科技（深圳）有限公司 | A kind of recognition methods of vehicle driving state, device and storage medium |
| CN110161544B (en) * | 2018-04-16 | 2022-03-01 | 腾讯科技（深圳）有限公司 | Vehicle driving state identification method and device and storage medium |
| CN111024096A (en) * | 2019-11-08 | 2020-04-17 | 安徽中科美络信息技术有限公司 | Vehicle positioning data uploading method and vehicle-mounted terminal |
| CN111024096B (en) * | 2019-11-08 | 2022-06-03 | 安徽中科美络信息技术有限公司 | Vehicle positioning data uploading method and vehicle-mounted terminal |
| CN111208482A (en) * | 2020-02-28 | 2020-05-29 | 成都汇蓉国科微系统技术有限公司 | Radar precision analysis method based on distance alignment |
| CN111879338B (en) * | 2020-07-28 | 2022-02-22 | 安徽中科美络信息技术有限公司 | Electronic map-based driving track planning compensation method and device |
| CN111879338A (en) * | 2020-07-28 | 2020-11-03 | 安徽中科美络信息技术有限公司 | Electronic map-based driving track planning compensation method and device |
| CN113267196A (en) * | 2021-05-19 | 2021-08-17 | 中移智行网络科技有限公司 | Vehicle track correction method, terminal and computer-readable storage medium |
| CN113267196B (en) * | 2021-05-19 | 2022-04-08 | 中移智行网络科技有限公司 | Vehicle track correction method, terminal and computer-readable storage medium |
| CN113554891A (en) * | 2021-07-19 | 2021-10-26 | 江苏南大苏富特智能交通科技有限公司 | Method for constructing electronic map road network based on bus GPS track |
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