CN104590112B - Judge the method and system of turn inside diameter degree of safety - Google Patents
Judge the method and system of turn inside diameter degree of safety Download PDFInfo
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Abstract
The present invention provides a kind of method and system for judging turn inside diameter degree of safety, the method comprising the steps of：Current vehicle position information is obtained by the positioner of mobile terminal；Judge whether vehicle starts to turn according to the positional information；If so, the arc length of turn inside diameter speed, angle of turn and turning is then obtained, and turning security degree is calculated according to the arc length of the turning speed, angle of turn and turning；Calculated turning security degree is compared with predetermined threshold value, alarm prompt is carried out when the turning security degree exceedes threshold value.Not only cost is relatively low for a kind of method and system of judgement turn inside diameter degree of safety of the present invention, and reduces the risk of Ackermann steer angle, is effectively improved turn inside diameter safety coefficient.
Description
Technical field
The present invention relates to field of navigation technology, at more particularly to a kind of method and for judging turn inside diameter degree of safety
The system for judging turn inside diameter degree of safety.
Background technology
Vehicle is a kind of quickly and easily vehicles, and through the development of more than 100 years, the automobile on road surface was more and more.
With the improvement and the progress of automotive engineering of road traffic condition, the speed of vehicle is improved constantly, process of the vehicle in traveling
In increased many safety problems.Especially in Ackermann steer angle, due to the presence of centrifugal force, high vehicle speeds are turned may
Cause the danger slided, fall, turn over.Counted according to traffic accident report, turned just because of vehicle the reason for cause many traffic accidents
Caused by curved excessive velocities.
At present, believed using related hardware device or the velocity information and direction that access automobile bus to obtain vehicle
Breath, it can be determined that go out the turning situation of Current vehicle, so as to reduce the risk of Ackermann steer angle, guiding vehicle human pilot is carried out
Safety turning.But, carry out aiding in detection to judge turn inside diameter situation using hardware device, it is relatively costly, it is unfavorable for universal
Promote.
The content of the invention
Based on this, the present invention provides a kind of method and system for judging turn inside diameter degree of safety, can be with relatively low cost
To reduce the risk of Ackermann steer angle, turn inside diameter safety coefficient is improved.
For achieving the above object, the present invention is adopted the following technical scheme that：
A kind of method for judging turn inside diameter degree of safety, comprises the following steps：
Current vehicle position information is obtained by the positioner of mobile terminal；
Judge whether vehicle starts to turn according to the positional information；
If so, then obtain the arc length of turn inside diameter speed, angle of turn and turning, and according to the turning speed, turn
The arc length of bending angle and turning calculates turning security degree；
Calculated turning security degree is compared with predetermined threshold value, is entered when the turning security degree exceedes threshold value
Row alarm prompt.
A kind of system for judging turn inside diameter degree of safety, including the mobile terminal with positioning function, the mobile terminal
Including：
Position information acquisition module, obtains current vehicle position letter for by calling the positioner of mobile terminal
Breath；
Judge module, for judging whether vehicle starts to turn according to the positional information；
Turning security degree computing module, in the case of being to be in the judged result of the judge module, obtains vehicle
The arc length of turning speed, angle of turn and turning, and calculated according to the arc length of the turning speed, angle of turn and turning
Turning security degree；
Reminding module, for calculated turning security degree is compared with predetermined threshold value, when the turning security
Alarm prompt is carried out when degree is more than threshold value.
By above scheme as can be seen that a kind of method and system of judgement turn inside diameter degree of safety of the present invention, by moving
Dynamic terminal obtaining current vehicle position information, and when judging to show that vehicle starts to turn according to positional information, according to turning
The arc length of curved speed, angle of turn and turning calculates turning security degree, is just alerted when turning security degree exceedes threshold value
Prompting.Need to carry out aiding in detection to judge vehicle turn using relatively costly hardware device in present invention, avoiding conventional method
The problem of curved situation, provides a turning security degree index to driver by current commonplace mobile terminal, not only
Cost is relatively low, and can calculate turning security degree in real time and give and point out, and reduces the risk of Ackermann steer angle, effectively
Improve turn inside diameter safety coefficient.
Description of the drawings
Fig. 1 is a kind of method flow schematic diagram for judging turn inside diameter degree of safety in the embodiment of the present invention；
Fig. 2 is turn inside diameter schematic diagram in the embodiment of the present invention；
Fig. 3 is navigation scheme in the embodiment of the present invention；
Fig. 4 is workflow schematic diagram in the embodiment of the present invention；
Fig. 5 is a kind of system structure diagram for judging turn inside diameter degree of safety in the embodiment of the present invention；
Fig. 6 is the structural representation of the computer system that can realize the embodiment of the present invention.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, it is below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, and
It is not used in the restriction present invention.
The description of specific distinct unless the context otherwise, the element and component in the present invention, quantity both can be with single shape
Formula is present, it is also possible in the form of multiple, and the present invention is not defined to this.Although the step in the present invention is entered with label
Arrangement is gone, but is not used to limit the precedence of step, unless expressly stated the order of step or holding for certain step
Based on row needs other steps, the relative rank of otherwise step is adjustable.
Shown in Figure 1, a kind of method for judging turn inside diameter degree of safety is comprised the following steps：
Step S101, obtains current vehicle position information, subsequently into step by the positioner of mobile terminal
S102。
According to the positional information, step S102, judges whether vehicle starts to turn；If then entering step S103, otherwise
Return to step S101.
Step S103, if judging to show that vehicle starts to turn, obtains turn inside diameter speed, angle of turn and turning
Arc length, and turning security degree is calculated according to the arc length of the turning speed, angle of turn and turning, subsequently into step
S104。
In the present invention, the method for calculating turning security degree can have many kinds.Wherein in a preferable embodiment, institute
The arc length of turn inside diameter speed, angle of turn and turning is obtained in stating step S103, and according to the turning speed, turning angle
Degree and the arc length turned calculate the process of turning security degree and specifically may include steps of：
Step S1031, obtains the arc length of turn inside diameter speed, angle of turn and turning, and according to the angle of turn
And the arc length turned calculates radius of turn；
Step S1032, obtains the coefficient of friction under current road conditions, and is calculated according to the radius of turn and coefficient of friction
The safe speed of maximum of turning；
Step S1033, according to maximum safe speed and the turning speed calculating turning security degree of turning.Detailed
Calculating process is as follows：
The pilot process of a turn inside diameter is described as shown in Figure 2, it is assumed that turned from A points with the speed of Va at the Ta moment
To C points, the speed of moment Tc is Vc, then angle a for turning over is equal to A points and the difference of the GPS directions at C point moment；The arc length of AC is near
The line segment length Dac of approximately equal to AC points, then can be calculated radius of turn r (AB or BC i.e. in figure)=Dac*360/ first
A, and maximum safe speed Vmax of turning is calculated using equation below：Wherein, g accelerates for gravity
Degree, takes 9.8；R is radius of turn；U is coefficient of friction, and u is in different road conditions, weather condition (such as sleet ice etc.) difference
Very big, in the case of normally, we can take u=0.2 or so through many experiments；When Vc is less than or equal to Vmax, I
Remember turning security degree be 100 points；Otherwise, turning security degree w=100*Vmax/Vc.
It should be noted that the turning security degree for obtaining calculated above is instantaneous turning security degree, can be used in real time
Remind the turning process of user.
Step S104, calculated turning security degree is compared with predetermined threshold value, when the turning security degree surpasses
Then alarm prompt is carried out by corresponding means when crossing the threshold value.
Used as a preferable embodiment, the present invention can also include before the acquisition current vehicle position information
Following steps：Believe to server request navigation way and turn information, and the navigation way fed back by the reception server with turning
Breath.I.e. in the embodiment of the present invention, server while issuing each turn information, and is led during navigation way is issued
Turning in the line of air route may have multiple, and each turning can have corresponding turn information.
As a preferable embodiment, in above-mentioned steps S102, judge whether vehicle starts to turn according to the positional information
Curved process specifically may include steps of：
Step S1021, judges whether turn information；If then entering S1022, otherwise into S1023.
Step S1022, if the judged result of step S1021 is yes, i.e., in navigation procedure, has turning letter in navigation way
Breath, then now can be matched the positional information with the turning crossing coordinate in the turn information, according to matching
As a result come judge vehicle whether start turn.It should be noted that the positional information can include：Latitude and longitude information, positioning
Precision information and orientation information etc..
As shown in figure 3, grey thick line representative is navigation way, navigation way is to turn left to Haidian South Road from Cai Hefang roads
The route of upper left-hand rotation, can learn from navigation way：Cai Hefang roads are a turning crossings with the intersection at Haidian South Road.And
And the coordinate at this crossing etc. is all known.Map-matching algorithm can be then utilized, vehicle location information is processed, vehicle is inhaled
It is attached on real road.Specifically, when vehicle location is to intersection, orientation angle is if explanation directed downwardly is in color and mill
Lu Shang, with the process turned, when orientation angle towards it is right when explanation turning has been completed on the South Road of Haidian, now.
Step S1023, if the judged result of step S1021 is no, i.e., in the case of without turn information, now can be with root
Judge according to the orientation information of continuous several anchor points whether vehicle starts to turn.
In the situation without turn information, refer to and do not open navigation or open navigation but during no circuit (than so newly-built one
Bar road, but the road network in mobile phone does not also update).Under this scene, when and where can occur to turn, mobile phone is to be difficult to expect
's.Therefore, it can using the orientation information (i.e. angle) in location information, if finding to become towards generation between continuous several anchor points
Change, then may determine that and turning.Specific algorithm is as follows：
(1) judge vehicle whether in traveling.Location information can be obtained with (in such as 5 seconds) in nearest a period of time
Location information is made comparisons, if it find that the speed of each anchor point is all higher than certain value (such as 5 kilometers/hour) and positioning precision being
Effectively, then it is considered that vehicle is in traveling；
(2) judge whether vehicle is in straight trip.Location information can be obtained with (in such as 5 seconds) in nearest a period of time
Location information is made comparisons, if it find that vehicle is in traveling, and angle is kept approximately constant that (angle difference is less than a setting
Value, approximate straight line), then it is assumed that vehicle is, in straight trip, otherwise to enter the deterministic process turned；
(3) judgement that turning starts.The location data of current 2 seconds judges it is straight trip, but current location information and nearest 2
Location information in second compares, if it find that angle is changing and is being gradually to increase or decrease, then illustrates that vehicle starts
Turn；
(4) judgement that turning is finished.The location data of current 3 seconds judges it is to turn, but current location information and nearest 2
Location information in second compares, if it find that vehicle is in traveling, and angle is kept approximately constant that (angle difference is less, closely
Like straight line), then illustrate that turning is finished.
4 Rule of judgment using more than, when being initially straight trip, then turn, then the process of stopping of turning are regarded as once
Turn.
As a preferable embodiment, before step S101 judges whether vehicle starts to turn, can also include as
Lower step：Judge whether to have arrived at destination according to the positional information；Just vehicle is judged into step S101 if not
Whether turn the step of is started；Navigate if destination is had arrived at and terminate.
In addition, as a preferable embodiment, after step S103 calculates turning security degree, can also include as follows
Step：To turn time started and current turning security degree is recorded.
As a preferable embodiment, after turning security degree is calculated, can also comprise the steps：
According to the positional information, step S105, judges whether turn inside diameter is over；If then entering step S106,
Otherwise return to step S101；
Step S106, if the judged result of step S105 is yes, calculates the average turning security during whole turning
Degree, and the average turning security degree and end time of turning are recorded.Gone through due to recording in the solution of the present invention
The turning security degrees of data of history, after having the multiple turning security degrees of data of driver, it is possible to by the history to counting
Turning security line of writing music is analyzed, and so as to analyze the turning behavior of driver, thus can further give driver one
The prompting and evaluation and test of individual summing-up, this is realized and formation safety for correcting the driving behavior of driver, improving safe driving
Driving habit is significant.
It should be noted that for the calculating of average turning security degree, it is due to during whole turning, necessarily multiple
GPS (Global Positioning System, global positioning system) point, last turn GPS angle with first
The differential seat angle of turning point is the turning speed that turns over, furthermore with adjacent 2 points apart from sum as the arc length turned, arc
The average speed that the long turning time divided by record is as turned, then average speed according to the turning, angle of turn and turn
Curved arc length, can calculate average turning security degree using aforesaid method.
As shown in figure 4, a kind of method workflow of the judgement turn inside diameter degree of safety in the embodiment of the present invention is as follows：
(1) client (i.e. mobile terminal) is to server request navigation way and turn information；
(2) server returns navigation way and turn information；
(3) client obtains navigation way and turn information；Turning in navigation way may have multiple, each turning
Have corresponding turn information；
(4) client obtains current vehicle position information；Major parameter has the information such as longitude and latitude, positioning precision and direction；
(5) judge whether to arrive at；If arrived at, turn (12) and terminate navigation procedure process；Otherwise after
Continuous (6)；
(6) judge whether to start to turn；If it is determined that not turning, then (11) are jumped to, otherwise continue (7)；
(7) client calculates turning security degree；
(8) client according to turning security degree by corresponding information to driver；
(9) judge whether that turning is finished；
(10) turn and finish, record turn information；
(11) present bit is equipped with renewal；It should be noted that this is an asynchronous flow process, have with the system of mobile terminal
Very big relation；
(12) navigation terminates.
Corresponding with a kind of above-mentioned method for judging turn inside diameter degree of safety, the present invention also provides one kind and judges turn inside diameter
The system of degree of safety, including the mobile terminal with positioning function, as shown in figure 5, the mobile terminal includes：
Position information acquisition module 101, obtains current vehicle position for by calling the positioner of mobile terminal
Information；
Judge module 102, for judging whether vehicle starts to turn according to the positional information；
Turning security degree computing module 103, in the case of being to be in the judged result of the judge module, obtains car
The arc length of turning speed, angle of turn and turning, and according to the arc length meter of the turning speed, angle of turn and turning
Calculate turning security degree；
Reminding module 104, for calculated turning security degree is compared with predetermined threshold value, when the peace of turning
Whole step carries out alarm prompt when exceeding threshold value.
Used as a preferable embodiment, the turning security degree computing module can include：
Radius of turn calculating sub module, for obtaining the arc length of turn inside diameter speed, angle of turn and turning, and according to
The arc length of the angle of turn and turning calculates radius of turn；
Maximum safe speed calculating sub module, for obtaining the coefficient of friction under current road conditions, and turns partly according to described
Footpath and coefficient of friction calculate maximum safe speed of turning；
Degree of safety calculating sub module, for according to maximum safe speed and the turning speed calculating turning peace of turning
Whole step.
Used as a preferable embodiment, the mobile terminal can also include：Request sending module, information receive mould
Block, in addition the of the invention system for judging turn inside diameter degree of safety can also include：Server；
The request sending module is for server request navigation way and turn information；
The server is used for the request for obtaining navigation way and turn information for receiving mobile terminal transmission, and according to this
The navigation way and turn information are fed back to mobile terminal by request；
Described information receiver module is used for navigation way and the turn information fed back by the reception server.
A kind of above-mentioned other technical characteristics of system for judging turn inside diameter degree of safety judge vehicle with one kind of the present invention
The method of turning security degree is identical, and it will not go into details herein.
Fig. 6 is the module map of the computer system 1000 that can realize the embodiment of the present invention.The computer system 1000
The simply example of a computer environment for being applied to the present invention, it is impossible to be considered to propose appointing for the use range to the present invention
What limits.Computer system 1000 can not be construed to need to rely on or the exemplary computer system 1000 with diagram
In one or more parts combination.
The computer system 1000 illustrated in Fig. 6 is the example of a computer system for being suitable for the present invention.Have
Other frameworks of different sub-systems configuration can also be used.For example there are big well known personal digital assistant, smart phone, put down
The similar devices such as plate computer, portable electronic device, Set Top Box, notebook go for some embodiments of the present invention.
But it is not limited to equipment enumerated above.
As shown in fig. 6, computer system 1000 includes processor 1010, memory 1020 and system bus 1022.Including
Memory 1020 and processor 1010 are connected on system bus 1022 in interior various system components.Processor 1010 is one
The hardware of computer program instructions is performed for by arithmetic sum logical operation basic in computer system.Memory 1020
It is a physical equipment for being used to temporarily or permanently store calculation procedure or data (for example, program state information).System is total
Line 1020 can be any one in the bus structures of following several types, including memory bus or storage control, outer
If bus and local bus.Processor 1010 and memory 1020 can enter row data communication by system bus 1022.Wherein
Memory 1020 includes read-only storage (ROM) or flash memory (all not shown in figure), and random access memory (RAM), RAM
Typically refer to be loaded with the main storage of operating system and application program.
Computer system 1000 also includes display interface 1030 (for example, GPU), 1040 (example of display device
Such as, liquid crystal display), COBBAIF 1050 (for example, sound card) and audio frequency apparatus 1060 (for example, loudspeaker).Display device
1040 and audio frequency apparatus 1060 be media device for experiencing content of multimedia.
Computer system 1000 generally comprises a storage device 1070.Storage device 1070 can from various computers
Select in reading medium, computer-readable medium is referred to and can pass through any available medium that computer system 1000 is accessed,
Including mobile and fixed two media.For example, computer-readable medium is included but is not limited to, flash memory (miniature SD
Card), CD-ROM, digital versatile disc (DVD) or other optical disc storages, cassette, tape, disk storage or other magnetic storages set
It is standby, or can be used for any other medium that store information needed and can be accessed by computer system 1000.
Computer system 1000 also includes input unit 1080 and input interface 1090 (for example, I/O controller).User can
To be arrived by input unit 1080, such as the touch panel equipment in keyboard, mouse, display device 1040, input instruction and information
In computer system 1000.Input unit 1080 is connected on system bus 1022 typically by input interface 1090, but
Can also be connected by other interfaces or bus structures, such as USB (USB).
Computer system 1000 can carry out logic with one or more network equipment in a network environment and be connected.Network sets
Standby can be PC, server, router, smart phone, panel computer or other common network nodes.Department of computer science
System 1000 is connected with the network equipment by LAN (LAN) interface 1100 or mobile comm unit 1110.LAN (LAN)
Refer in finite region, for example family, school, computer laboratory or the office building using the network media, interconnection composition
Computer network.WiFi and twisted-pair feeder wiring Ethernet are two kinds of technologies of the most frequently used structure LAN.WiFi is a kind of
1000 swapping data of computer system can be made or the technology of wireless network is connected to by radio wave.Mobile comm unit
1110 are answered by radio communication diagram and are called while moving in a wide geographic area.Except logical
Beyond words, mobile comm unit 1110 is also supported in the 2G for providing mobile data service, is carried out in 3G or 4G cellular communication systems
Internet access.
It should be pointed out that other include the computer system than 1000 more or less of subsystem of computer system
Can be suitably used for invention.For example, computer system 1000 can include can be in the bluetooth unit of exchange data in short distance, for shining
The imageing sensor of phase, and for measuring the accelerometer of acceleration.
As detailed above, it is adaptable to the computer system 1000 of the present invention can be performed and judge turn inside diameter degree of safety
Method assigned operation.Computer system 1000 operates in the software instruction in computer-readable medium by processor 1010
Form come perform these operation.These software instructions can be from storage device 1070 or by lan interfaces 1100 from another
One equipment is read in memory 1020.The software instruction that is stored in memory 1020 so that processor 1010 perform it is above-mentioned
The method for judging turn inside diameter degree of safety.Additionally, also can be equally real with reference to software instruction by hardware circuit or hardware circuit
The existing present invention.Therefore, realize that the present invention is not limited to the combination of any specific hardware circuit and software.
By above scheme as can be seen that a kind of method and system of judgement turn inside diameter degree of safety of the present invention, pass through
Mobile terminal obtaining current vehicle position information, and when judging to show that vehicle starts to turn according to positional information, according to
The arc length of turning speed, angle of turn and turning calculates turning security degree, is just accused when turning security degree exceedes threshold value
Alert prompting.Need to carry out aiding in detection to judge vehicle using relatively costly hardware device in present invention, avoiding conventional method
The problem of turning situation, provides a turning security degree index to driver by current commonplace mobile terminal, no
Only cost is relatively low, and can calculate turning security degree in real time and give and point out, and reduces the risk of Ackermann steer angle, effectively
Improve turn inside diameter safety coefficient.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more concrete and detailed, but and
Therefore the restriction to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, some deformations and improvement can also be made, these belong to the guarantor of the present invention
Shield scope.Therefore, the protection domain of patent of the present invention should be defined by claims.
Claims (8)
1. it is a kind of judge turn inside diameter degree of safety method, it is characterised in that comprise the following steps：
Current vehicle position information is obtained by the positioner of mobile terminal；
Judge whether vehicle starts to turn according to the positional information；
If so, the arc length of turn inside diameter speed, angle of turn and turning is then obtained, and according to the turning speed, turning angle
Degree and the arc length turned calculate turning security degree, including：The arc length of turn inside diameter speed, angle of turn and turning is obtained,
And radius of turn is calculated according to the arc length of the angle of turn and turning, obtain the coefficient of friction under current road conditions, and according to
The radius of turn and coefficient of friction calculate maximum safe speed of turning, according to it is described turn maximum safe speed and
Turning speed calculates turning security degree；
Calculated turning security degree is compared with predetermined threshold value, is accused when the turning security degree exceedes threshold value
Alert prompting.
2. it is according to claim 1 judge turn inside diameter degree of safety method, it is characterised in that it is described acquisition vehicle work as
Before the information of front position, also including step：
To server request navigation way and turn information, and the navigation way that fed back of the reception server and turn information.
3. it is according to claim 2 judge turn inside diameter degree of safety method, it is characterised in that according to the positional information
Judge that the process whether vehicle starts to turn includes：
Judge whether turn information；
If so, then the positional information is matched with the turning crossing coordinate in the turn information, according to the knot of matching
Fruit judges whether vehicle starts to turn；The positional information includes：Latitude and longitude information, positioning accuracy information and orientation information；
If it is not, then judging whether vehicle starts to turn according to the orientation information of continuous several anchor points of vehicle.
4. it is according to claim 1 judge turn inside diameter degree of safety method, it is characterised in that judging whether vehicle is opened
Before beginning to turn, also including step：
Judge whether to have arrived at destination according to the positional information；Just judge whether vehicle starts to turn into described if not
The step of.
5. it is according to claim 1 judge turn inside diameter degree of safety method, it is characterised in that calculate turning security degree
Afterwards, also including step：
To turn time started and current turning security degree is recorded.
6. it is according to claim 5 judge turn inside diameter degree of safety method, it is characterised in that calculate turning security degree
Afterwards, also including step：
Judge whether turn inside diameter is over according to the positional information；
If so, the average turning security degree during entirely turning then is calculated, and the average turning security degree and turning is tied
The beam time is recorded.
7. it is a kind of judge turn inside diameter degree of safety system, it is characterised in that include the mobile terminal with positioning function, it is described
Mobile terminal includes：
Position information acquisition module, obtains current vehicle position information for by calling the positioner of mobile terminal；
Judge module, for judging whether vehicle starts to turn according to the positional information；
Turning security degree computing module, in the case of being to be in the judged result of the judge module, obtains turn inside diameter
The arc length of speed, angle of turn and turning, and turning is calculated according to the arc length of the turning speed, angle of turn and turning
Degree of safety, including：Radius of turn calculating sub module, for obtaining the arc length of turn inside diameter speed, angle of turn and turning, and
Radius of turn is calculated according to the arc length of the angle of turn and turning, maximum safe speed calculating sub module is worked as obtaining
Coefficient of friction under front road conditions, and maximum safe speed of turning, safety are calculated according to the radius of turn and coefficient of friction
Degree calculating sub module, for according to maximum safe speed and the turning speed calculating turning security degree of turning；
Reminding module, for calculated turning security degree is compared with predetermined threshold value, when the turning security degree surpasses
Alarm prompt is carried out when crossing threshold value.
8. it is according to claim 7 judge turn inside diameter degree of safety system, it is characterised in that the mobile terminal is also wrapped
Include：Request sending module, information receiving module, the system also include：Server；
The request sending module is for server request navigation way and turn information；
The server is used for the request for obtaining navigation way and turn information for receiving mobile terminal transmission, and according to the request
The navigation way and turn information are fed back to into mobile terminal；
Described information receiver module is used for navigation way and the turn information fed back by the reception server.
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