CN104677375A - System for guiding tunnel road in advance - Google Patents
System for guiding tunnel road in advance Download PDFInfo
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- CN104677375A CN104677375A CN201510119574.5A CN201510119574A CN104677375A CN 104677375 A CN104677375 A CN 104677375A CN 201510119574 A CN201510119574 A CN 201510119574A CN 104677375 A CN104677375 A CN 104677375A
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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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
Abstract
The invention provides a system for guiding a tunnel road in advance. The system comprises a map data storage module, a driving route planning module, a GPS positioning module, a GPS navigating module, a tunnel entrance detection module, an inside-tunnel positioning module, an inside-tunnel navigating module, a tunnel exit detection module and a tunnel exit prompting module. The system has the advantages that when a vehicle approaches a tunnel, a tunnel entrance position is reported in advance, so that a driver can prepare for entering the tunnel; when the vehicle enters the tunnel and runs inside the tunnel, the vehicle is navigated based on a non-GPS positioning way; when the vehicle leaves from the tunnel, a tunnel exit position is reported in advance, so that the driver can prepare for leaving from the tunnel; therefore, for a road with the tunnel, the system can comprehensively improve the driving safety and reduce driving dangers; in addition, the non-GPS positioning provided by the invention has the advantage of a simple and accurate positioning algorithm.
Description
Technical field
The invention belongs to vehicle mounted guidance technical field, be specifically related to a kind of tunnel road and shift to an earlier date guidance system.
Background technology
Along with the swift and violent growth of automobile quantity and the day by day complicated of road, vehicle mounted guidance is widely used; Further, along with increasing of customer volume, people are also more and more higher for many-sided demand of navigation.
Existing onboard navigation system is mainly navigated based on gps signal, that is: after user arranges route start and route terminal in onboard navigation system, in vehicle travel process, onboard navigation system receives vehicle real-time position information by gps system; Then, after vehicle real-time position information, present road traffic information and route terminal are comprehensively analyzed, obtain the traveling guidance information to vehicle, thus reach navigation purpose.
But, when vehicle travels in cunicular section, because the gps signal of tunnel internal is very poor, sometimes gps signal is not had even completely, cause onboard navigation system to carry out effective traveling guidance, thus it is dangerous to increase driving, specifically comprises following two kinds of situations:
Situation 1: human body exists the physiological reaction of " dark adatpation ", that is: when human body is in bright environment for a long time, if when entering into suddenly dark surrounds, need certain transit time, eyes could adapt to the environment of this dark, within this transit time, eyes are in the state cannot seeing front things clearly.Therefore, when people enters into tunnel from tunnel outer by day, be very easy to above-mentioned " dark adatpation " physiological phenomenon occurs.So when vehicle sails in narrow and small tunnel, physiological phenomenon that driver often occurs " dark adatpation ", again because onboard navigation system lacks gps signal at tunnel internal, therefore, cannot carry out traveling guidance effectively and timely, be easy to cause traffic hazard.
Situation 2: human body exists the physiological reaction of " light adaptation ", that is: when human body is in dark surrounds for a long time, if when entering into suddenly very bright environment, the transit time that same needs are certain, eyes could adapt to this bright environment, within this transit time, eyes are in the state cannot seeing front things clearly.Therefore, physiological phenomenon that when vehicle is rolled away from by tunnel internal, driver often occurs " light adaptation ", the road conditions again due to tunnel outer is usually more complicated, therefore, is easy to cause traffic hazard.
As can be seen here, how solving tunnel road and lack effective traveling guidance situation, improving vehicle there being the travel safety of tunnel road, significant.
Summary of the invention
For the defect that prior art exists, the invention provides a kind of tunnel road and shift to an earlier date guidance system, can effectively solve the problem.
The technical solution used in the present invention is as follows:
The invention provides a kind of tunnel road and shift to an earlier date guidance system, comprising:
Map datum memory module, for storing electronic map; Wherein, described electronic chart comprises link length information and road attribute information; Described road attribute information comprises two attribute: tunnel road attribute and non-tunnel road attribute;
Driving path planning module, for receiving origin information and the destination information of setting; Then, read the described electronic chart that described map datum memory module stores, by the path planning algorithm preset, obtain the optimum traffic route from origin to destination;
GPS locating module, for when gps signal can be received, the gps signal of the current position of real-time reception vehicle; Then, according to described gps signal, calculate vehicle current geographic position information, and described geographical location information is shown to the correspondence position of described electronic chart;
GPS navigation module, the vehicle current geographic position information navigated to for more described GPS locating module and described driving path planning module plan the optimum traffic route obtained, and carry out navigation guide;
Tunnel portal detecting module, for receiving the 1st detection range L1 of setting; In vehicle travel process, the vehicle current geographic position information that GPS locating module described in real-time matching navigates to and described driving path planning module plan the optimum traffic route obtained; Then, read the road attribute of road segment segment being L1 with vehicle current geographic position distance in described optimum traffic route, judge that whether described road attribute is changed into the tunnel road attribute of current time by the non-tunnel road attribute of previous moment, if judged result is no, then proceed tunnel portal detection; If judged result is yes, then show that detected road is tunnel portal; Then, read described electronic chart further, obtain the distance value of vehicle current geographic position distance tunnel portal;
Tunnel portal reminding module, for detect when described tunnel portal detecting module vehicle travel front there is tunnel time, the distance value of prompting vehicle current geographic position distance tunnel portal;
Determination module, for the tunnel portal position detected according to described tunnel portal detecting module, judges whether vehicle sails tunnel internal into;
Tunnel inner position module, for when described determination module judges that vehicle has sailed tunnel internal into, based on non-GPS location algorithm, calculates vehicle geographical location information in real time;
Navigation module in tunnel, the vehicle current geographic position information navigated to for more described tunnel inner position module and described driving path planning module plan the optimum traffic route obtained, and carry out navigation guide;
Tunnel exit detecting module, for receiving the 2nd detection range L2 of setting; When vehicle is in tunnel internal driving process, the vehicle current geographic position information that described in real-time matching, tunnel inner position module navigates to and described driving path planning module plan the optimum traffic route obtained; Then, read the road attribute of road segment segment being L2 with vehicle current geographic position distance in described optimum traffic route, judge that whether described road attribute is changed into the non-tunnel road attribute of current time by the tunnel road attribute of previous moment, if judged result is no, then proceed tunnel exit detection; If judged result is yes, then show that detected road is tunnel exit; Then, read described electronic chart further, obtain the distance value of vehicle current geographic position distance tunnel exit;
Tunnel exit reminding module, when being tunnel exit for detecting vehicle traveling front when described tunnel exit detecting module apart from the road segment segment for L2, the distance value of prompting vehicle current geographic position distance tunnel exit.
Preferably, described tunnel inner position module comprises:
Vehicle initial position record cell, for when described vehicle drives to tunnel portal, record the vehicle location coordinate navigated to by described GPS locating module, this vehicle location coordinate is: for the vehicle initial position of locating in tunnel internal position vehicle;
Vehicle travels angle recordings unit, for when after vehicle initial position described in described vehicle initial position recording unit records, and real time record vehicle traveling angle;
Vehicle operating range record cell, for when after vehicle initial position described in described vehicle initial position recording unit records, real time record vehicle is at the vehicle operating range in tunnel from described initial position;
Vehicle real time position computing unit, for carrying out COMPREHENSIVE CALCULATING to described vehicle initial position, described vehicle traveling angle and described vehicle operating range, obtains the real time position of vehicle in tunnel.
Preferably, described vehicle travel angle recordings unit specifically for:
When after vehicle initial position described in described vehicle initial position recording unit records, the steering wheel angle value of registration of vehicle when described vehicle initial position; Afterwards, when in the process that vehicle travels at tunnel internal, when steering wheel angle changes, record steering wheel angle changing value α and steering wheel angle regulation time.
Preferably, described vehicle operating range record cell specifically for:
When after vehicle initial position described in described vehicle initial position recording unit records, the wheel revolutions n of real time record vehicle from described vehicle initial position; Again because radius of wheel r is given value; Therefore, vehicle operating range S=2*r* π * n.
Preferably, described vehicle operating range record cell specifically for:
When after vehicle initial position described in described vehicle initial position recording unit records, with vehicle at described vehicle initial position for timing initial point, the speed of a motor vehicle v of real time record vehicle from described vehicle initial position and the corresponding relation of time; And then calculate the operating range S of vehicle relative to vehicle initial position.
Preferably, described tunnel inner position module comprises:
Base station location storage unit, for the base station IDs of multiple base stations of storage and distribution around tunnel road in certain limit and the corresponding relation of base station position information;
Transmitter unit, for launching wireless exploration signal around tunnel road, meanwhile, the launch time that described wireless exploration signal launched in record puts T0;
Receiving element, for receiving two wireless response signal received at first; Described two wireless response signal are designated as successively: the 1st wireless response signal and the 2nd wireless response signal;
Wherein, described wireless response signal refers to: the wireless response signal that each base station returns immediately when receiving described wireless exploration signal; Base station IDs is carried in described wireless response signal; Meanwhile, record the time of reception point of described 1st wireless response signal and described 2nd wireless response signal, be designated as T1 and T2 respectively;
Resolution unit, for resolving described 1st wireless response signal and described 2nd wireless response signal, obtains the 1st base station IDs and the 2nd base station IDs; Again by searching described base station location storage unit, obtain the position coordinates A (Xa, Yb) of described 1st base station IDs and the position coordinates B (Xb, Yb) of described 2nd base station IDs;
Suppose that current vehicle position is coordinate C (Xc, Yc);
Then: because radio signal propagation speed is constant W, can calculate:
Length=(T1-T0) * W of straight line AC;
Length=(T2-T0) * W of straight line BC;
Recycling distance between two points formula obtains system of equations:
AC^2＝(Xa-Xc)^2+(Ya-Yc)；
BC^2＝(Xb-Xc)^2+(Yb-Yc)^2；
Then the coordinate that above-mentioned system of equations obtains current vehicle position C is solved.
Tunnel provided by the invention road shifts to an earlier date guidance system and has the following advantages:
When vehicle is close to tunnel, carry out the report of tunnel portal position in advance, driver is carried out enter the preparation in tunnel; When vehicle sails into and travels in tunnel, based on non-GPS locator meams, vehicle is navigated; When vehicle will sail out of tunnel, carry out the report of tunnel exit position in advance, driver is carried out leave the preparation in tunnel; Therefore, for the section that there is tunnel, improve vehicle safety comprehensively, reduce driving dangerous; In addition, for non-GPS localization method provided by the invention, there is the simple accurate advantage of location algorithm.
Accompanying drawing explanation
Fig. 1 is the structural representation that tunnel provided by the invention road shifts to an earlier date guidance system.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail:
Composition graphs 1, the invention provides a kind of tunnel road and shifts to an earlier date guidance system, comprising:
(1) map datum memory module
Map datum memory module is used for storing electronic map, and, along with road construction, need the electronic chart that upgrades in time, make electronic chart reflect up-to-date road information, improve the accuracy of navigation.
Wherein, electronic chart comprises link length information and road attribute information; Described road attribute information comprises two attribute: tunnel road attribute and non-tunnel road attribute; Tunnel road attribute refers to: the road having built tunnel above road; Non-tunnel road attribute refers to: the road not building tunnel above road; Therefore, by reading the attribute information of road, can know fast and whether building tunnel above this road.
(2) driving path planning module
Driving path planning module is for receiving origin information and the destination information of setting; Then, read the described electronic chart that described map datum memory module stores, by the path planning algorithm preset, obtain the optimum traffic route from origin to destination; The path planning algorithm of concrete employing is known algorithm in prior art, and the present invention repeats no more.
(3) GPS locating module
GPS locating module is used for when receiving gps signal, the gps signal of the current position of real-time reception vehicle; Then, according to described gps signal, calculate vehicle current geographic position information, and described geographical location information is shown to the correspondence position of described electronic chart;
(4) GPS navigation module
GPS navigation module is used for the vehicle current geographic position information that navigates to of more described GPS locating module and described driving path planning module plans the optimum traffic route obtained, and carries out navigation guide;
(5) tunnel portal detecting module
Tunnel portal detecting module is for receiving the 1st detection range L1 of setting, and the 1st detection range L1 specifically arranges numerical value, and the actual detection precision according to present road situation and driver is determined, such as, can be 3 meters; In vehicle travel process, the vehicle current geographic position information that GPS locating module described in real-time matching navigates to and described driving path planning module plan the optimum traffic route obtained; Then, read the road attribute of road segment segment being L1 with vehicle current geographic position distance in described optimum traffic route, judge that whether described road attribute is changed into the tunnel road attribute of current time by the non-tunnel road attribute of previous moment, if judged result is no, then proceed tunnel portal detection; If judged result is yes, then show that detected road is tunnel portal; Then, read described electronic chart further, obtain the distance value of vehicle current geographic position distance tunnel portal;
Such as, when L1 is set as 3 meters, in vehicle travel process, suppose that current vehicle location is position A, the position B travelling the 10th meter, front at vehicle is tunnel portal, and length of tunnel is 20 meters; Be an interval with 1 meter, the position in 1 meter, A front, position be designated as C1, the position in the 2nd meter, A front, position is designated as C2, the rest may be inferred, and the position that A front, position is the 9th meter is designated as C9; Then: (1), when vehicle travels to position A, reading the road attribute that distance and position A is the anterior position C3 of 3 meters, is non-tunnel road attribute; (2) then, suppose that vehicle often travels 1 meter and carries out a tunnel road detection, then, when vehicle travels to position C1, reading the road attribute of position C4, is non-tunnel road attribute; Therefore, continue detection, when vehicle travels to position C2, reading the road attribute of position C5, is non-tunnel road attribute; When vehicle travels to position C6, reading the road attribute of position C9, is non-tunnel road attribute; When vehicle travels to position C6, reading the road attribute of position B, is tunnel road attribute; Now, road attribute has been changed into the tunnel road attribute of current time by the non-tunnel road attribute of previous moment, therefore, shows that detected position B is tunnel portal.Read electronic chart again, because electronic chart records link length information, the distance between the position B that directly can find current vehicle position C6 and tunnel portal is 3 meters.Certainly, under normal circumstances, when vehicle detection is to tunnel portal position, set detection range value is the distance value of vehicle current distance tunnel portal, but in order to improve navigation accuracy, in the present invention, in conjunction with electronic chart, one-time authentication can be carried out to the distance value of vehicle distances tunnel portal.
(6) tunnel portal reminding module
When there is tunnel for detecting vehicle traveling front when described tunnel portal detecting module in tunnel portal reminding module, the distance value of prompting vehicle current geographic position distance tunnel portal; Such as, navigation can voice message " there is tunnel in 3 meters, front, and Please drive carefully ", avoids vehicle to sail tunnel into suddenly and the dangerous problem increased that causes driving a vehicle, and improves driver drives vehicle security.
(7) determination module
Determination module is used for the tunnel portal position detected according to described tunnel portal detecting module, judges whether vehicle sails tunnel internal into;
(8) tunnel inner position module
Because tunnel internal gps signal is very weak, base is not to having gps signal completely, and therefore, tunnel inner position module is used for when described determination module judges that vehicle has sailed tunnel internal into, based on non-GPS location algorithm, calculates vehicle geographical location information in real time; The non-GPS location algorithm that tunnel inner position module adopts comprises following two kinds:
(1) based on the non-GPS location algorithm of vehicle heading and distance
This kind of non-GPS location algorithm, tunnel inner position module comprises following functions unit:
Vehicle initial position record cell, for when described vehicle drives to tunnel portal, record the vehicle location coordinate navigated to by described GPS locating module, this vehicle location coordinate is: for the vehicle initial position of locating in tunnel internal position vehicle;
Vehicle travels angle recordings unit, for the travel direction of real time record vehicle from initial position, concrete, and when after vehicle initial position described in described vehicle initial position recording unit records, real time record vehicle travels angle; Specifically can adopt following methods record: when after vehicle initial position described in described vehicle initial position recording unit records, the steering wheel angle value of registration of vehicle when described vehicle initial position; Afterwards, when in the process that vehicle travels at tunnel internal, when steering wheel angle changes, record steering wheel angle changing value α and steering wheel angle regulation time.
Vehicle operating range record cell, can adopt following two kinds of mode registration of vehicle at the operating range of tunnel internal:
A () for when after vehicle initial position described in described vehicle initial position recording unit records, real time record vehicle is at the vehicle operating range in tunnel from described initial position; Specifically can adopt following methods record: when after vehicle initial position described in described vehicle initial position recording unit records, the wheel revolutions n of real time record vehicle from described vehicle initial position; Again because radius of wheel r is given value; Therefore, vehicle operating range S=2*r* π * n.
(b) when after vehicle initial position described in described vehicle initial position recording unit records, with vehicle at described vehicle initial position for timing initial point, the speed of a motor vehicle v of real time record vehicle from described vehicle initial position and the corresponding relation of time; And then calculate the operating range S of vehicle relative to vehicle initial position.
Vehicle real time position computing unit, for carrying out COMPREHENSIVE CALCULATING to described vehicle initial position, described vehicle traveling angle and described vehicle operating range, obtains the real time position of vehicle in tunnel.
(2) based on the non-GPS location algorithm of base station
This kind of non-GPS location algorithm, tunnel inner position module comprises following functions unit:
Base station location storage unit, for the base station IDs of multiple base stations of storage and distribution around tunnel road in certain limit and the corresponding relation of base station position information;
Transmitter unit, for launching wireless exploration signal around tunnel road, meanwhile, the launch time that described wireless exploration signal launched in record puts T0;
Receiving element, for receiving two wireless response signal received at first; Described two wireless response signal are designated as successively: the 1st wireless response signal and the 2nd wireless response signal;
Wherein, described wireless response signal refers to: the wireless response signal that each base station returns immediately when receiving described wireless exploration signal; Base station IDs is carried in described wireless response signal; Meanwhile, record the time of reception point of described 1st wireless response signal and described 2nd wireless response signal, be designated as T1 and T2 respectively;
Resolution unit, for resolving described 1st wireless response signal and described 2nd wireless response signal, obtains the 1st base station IDs and the 2nd base station IDs; Again by searching described base station location storage unit, obtain the position coordinates A (Xa, Yb) of described 1st base station IDs and the position coordinates B (Xb, Yb) of described 2nd base station IDs;
Suppose that current vehicle position is coordinate C (Xc, Yc);
Then: because radio signal propagation speed is constant W, can calculate:
Length=(T1-T0) * W of straight line AC;
Length=(T2-T0) * W of straight line BC;
Recycling distance between two points formula obtains system of equations:
AC^2＝(Xa-Xc)^2+(Ya-Yc)；
BC^2＝(Xb-Xc)^2+(Yb-Yc)^2；
Then the coordinate that above-mentioned system of equations obtains current vehicle position C is solved.
(9) navigation module in tunnel
In tunnel, navigation module is used for the vehicle current geographic position information that navigates to of more described tunnel inner position module and described driving path planning module plans the optimum traffic route obtained, carry out navigation guide, thus in solution prior art, the problem of navigating cannot be carried out because tunnel internal lacks gps signal, improve tunnel internal travel safety.
(10) tunnel exit detecting module
Tunnel exit detecting module is for receiving the 2nd detection range L2 of setting, the numerical value that specifically arranges of the 2nd detection range L2 is determined according to detection accuracy, the value of the 2nd detection range L2 is greater than the 1st detection range L1 usually, such as, 4 meters can be set to, make driver know tunnel exit distance current vehicle position distance more early, improve and drive vigilance;
Concrete detection method is: when vehicle is in tunnel internal driving process, and the vehicle current geographic position information that described in real-time matching, tunnel inner position module navigates to and described driving path planning module plan the optimum traffic route obtained; Then, read the road attribute of road segment segment being L2 with vehicle current geographic position distance in described optimum traffic route, judge that whether described road attribute is changed into the non-tunnel road attribute of current time by the tunnel road attribute of previous moment, if judged result is no, then proceed tunnel exit detection; If judged result is yes, then show that detected road is tunnel exit; Then, read described electronic chart further, obtain the distance value of vehicle current geographic position distance tunnel exit;
The concrete detection principle of tunnel exit detecting module is substantially identical with tunnel portal detecting module detection principle, therefore, no longer illustrates in addition.
(11) tunnel exit reminding module
When tunnel exit reminding module is tunnel exit for detecting vehicle traveling front when described tunnel exit detecting module apart from the road segment segment for L2, prompting vehicle current geographic position is apart from the distance value of tunnel exit.
Due to when vehicle rolls tunnel away from, there is light adaptation and dangerous the increasing that cause driving a vehicle in human body, therefore, by tunnel exit detecting module, detect the position of tunnel exit distance vehicle in time, based on this, navigation can voice message " front, roll tunnel away from after 4 meters, Please drive carefully ".When vehicle rolls tunnel away from, can receive gps signal, navigation software can upgrade the positional information of vehicle automatically, and again adopts GPS mode to position guiding to vehicle.
Tunnel provided by the invention road shifts to an earlier date guidance system and has the following advantages:
When vehicle is close to tunnel, carry out the report of tunnel portal position in advance, driver is carried out enter the preparation in tunnel; When vehicle sails into and travels in tunnel, based on non-GPS locator meams, vehicle is navigated; When vehicle will sail out of tunnel, carry out the report of tunnel exit position in advance, driver is carried out leave the preparation in tunnel; Therefore, for the section that there is tunnel, improve vehicle safety comprehensively, reduce driving dangerous; In addition, for non-GPS localization method provided by the invention, there is the simple accurate advantage of location algorithm.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should look protection scope of the present invention.
Claims (6)
1. tunnel road shifts to an earlier date a guidance system, it is characterized in that, comprising:
Map datum memory module, for storing electronic map; Wherein, described electronic chart comprises link length information and road attribute information; Described road attribute information comprises two attribute: tunnel road attribute and non-tunnel road attribute;
Driving path planning module, for receiving origin information and the destination information of setting; Then, read the described electronic chart that described map datum memory module stores, by the path planning algorithm preset, obtain the optimum traffic route from origin to destination;
GPS locating module, for when gps signal can be received, the gps signal of the current position of real-time reception vehicle; Then, according to described gps signal, calculate vehicle current geographic position information, and described geographical location information is shown to the correspondence position of described electronic chart;
GPS navigation module, the vehicle current geographic position information navigated to for more described GPS locating module and described driving path planning module plan the optimum traffic route obtained, and carry out navigation guide;
Tunnel portal detecting module, for receiving the 1st detection range L1 of setting; In vehicle travel process, the vehicle current geographic position information that GPS locating module described in real-time matching navigates to and described driving path planning module plan the optimum traffic route obtained; Then, read the road attribute of road segment segment being L1 with vehicle current geographic position distance in described optimum traffic route, judge that whether described road attribute is changed into the tunnel road attribute of current time by the non-tunnel road attribute of previous moment, if judged result is no, then proceed tunnel portal detection; If judged result is yes, then show that detected road is tunnel portal; Then, read described electronic chart further, obtain the distance value of vehicle current geographic position distance tunnel portal;
Tunnel portal reminding module, for detect when described tunnel portal detecting module vehicle travel front there is tunnel time, the distance value of prompting vehicle current geographic position distance tunnel portal;
Determination module, for the tunnel portal position detected according to described tunnel portal detecting module, judges whether vehicle sails tunnel internal into;
Tunnel inner position module, for when described determination module judges that vehicle has sailed tunnel internal into, based on non-GPS location algorithm, calculates vehicle geographical location information in real time;
Navigation module in tunnel, the vehicle current geographic position information navigated to for more described tunnel inner position module and described driving path planning module plan the optimum traffic route obtained, and carry out navigation guide;
Tunnel exit detecting module, for receiving the 2nd detection range L2 of setting; When vehicle is in tunnel internal driving process, the vehicle current geographic position information that described in real-time matching, tunnel inner position module navigates to and described driving path planning module plan the optimum traffic route obtained; Then, read the road attribute of road segment segment being L2 with vehicle current geographic position distance in described optimum traffic route, judge that whether described road attribute is changed into the non-tunnel road attribute of current time by the tunnel road attribute of previous moment, if judged result is no, then proceed tunnel exit detection; If judged result is yes, then show that detected road is tunnel exit; Then, read described electronic chart further, obtain the distance value of vehicle current geographic position distance tunnel exit;
Tunnel exit reminding module, when being tunnel exit for detecting vehicle traveling front when described tunnel exit detecting module apart from the road segment segment for L2, the distance value of prompting vehicle current geographic position distance tunnel exit.
2. tunnel according to claim 1 road shifts to an earlier date guidance system, it is characterized in that, described tunnel inner position module comprises:
Vehicle initial position record cell, for when described vehicle drives to tunnel portal, record the vehicle location coordinate navigated to by described GPS locating module, this vehicle location coordinate is: for the vehicle initial position of locating in tunnel internal position vehicle;
Vehicle travels angle recordings unit, for when after vehicle initial position described in described vehicle initial position recording unit records, and real time record vehicle traveling angle;
Vehicle operating range record cell, for when after vehicle initial position described in described vehicle initial position recording unit records, real time record vehicle is at the vehicle operating range in tunnel from described initial position;
Vehicle real time position computing unit, for carrying out COMPREHENSIVE CALCULATING to described vehicle initial position, described vehicle traveling angle and described vehicle operating range, obtains the real time position of vehicle in tunnel.
3. tunnel according to claim 2 road shifts to an earlier date guidance system, it is characterized in that, described vehicle travel angle recordings unit specifically for:
When after vehicle initial position described in described vehicle initial position recording unit records, the steering wheel angle value of registration of vehicle when described vehicle initial position; Afterwards, when in the process that vehicle travels at tunnel internal, when steering wheel angle changes, record steering wheel angle changing value α and steering wheel angle regulation time.
4. tunnel according to claim 2 road shifts to an earlier date guidance system, it is characterized in that, described vehicle operating range record cell specifically for:
When after vehicle initial position described in described vehicle initial position recording unit records, the wheel revolutions n of real time record vehicle from described vehicle initial position; Again because radius of wheel r is given value; Therefore, vehicle operating range S=2*r* π * n.
5. tunnel according to claim 2 road shifts to an earlier date guidance system, it is characterized in that, described vehicle operating range record cell specifically for:
When after vehicle initial position described in described vehicle initial position recording unit records, with vehicle at described vehicle initial position for timing initial point, the speed of a motor vehicle v of real time record vehicle from described vehicle initial position and the corresponding relation of time; And then calculate the operating range S of vehicle relative to vehicle initial position.
6. tunnel according to claim 1 road shifts to an earlier date guidance system, it is characterized in that, described tunnel inner position module comprises:
Base station location storage unit, for the base station IDs of multiple base stations of storage and distribution around tunnel road in certain limit and the corresponding relation of base station position information;
Transmitter unit, for launching wireless exploration signal around tunnel road, meanwhile, the launch time that described wireless exploration signal launched in record puts T0;
Receiving element, for receiving two wireless response signal received at first; Described two wireless response signal are designated as successively: the 1st wireless response signal and the 2nd wireless response signal;
Wherein, described wireless response signal refers to: the wireless response signal that each base station returns immediately when receiving described wireless exploration signal; Base station IDs is carried in described wireless response signal; Meanwhile, record the time of reception point of described 1st wireless response signal and described 2nd wireless response signal, be designated as T1 and T2 respectively;
Resolution unit, for resolving described 1st wireless response signal and described 2nd wireless response signal, obtains the 1st base station IDs and the 2nd base station IDs; Again by searching described base station location storage unit, obtain the position coordinates A (Xa, Yb) of described 1st base station IDs and the position coordinates B (Xb, Yb) of described 2nd base station IDs;
Suppose that current vehicle position is coordinate C (Xc, Yc);
Then: because radio signal propagation speed is constant W, can calculate:
Length=(T1-T0) * W of straight line AC;
Length=(T2-T0) * W of straight line BC;
Recycling distance between two points formula obtains system of equations:
AC^2＝(Xa-Xc)^2+(Ya-Yc)；
BC^2＝(Xb-Xc)^2+(Yb-Yc)^2；
Then the coordinate that above-mentioned system of equations obtains current vehicle position C is solved.
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| CN105216830A (en) * | 2015-09-21 | 2016-01-06 | 深圳市航盛电子股份有限公司 | A kind of train enters tunnel method for early warning |
| CN106249268A (en) * | 2016-08-24 | 2016-12-21 | 南昌大学 | The Exact Location Method of running automobile in a kind of tunnel |
| CN106556404A (en) * | 2016-09-22 | 2017-04-05 | 捷开通讯(深圳)有限公司 | It is a kind of based on the real-time navigation method of signal, navigation terminal and vehicle |
| WO2017088475A1 (en) * | 2015-11-23 | 2017-06-01 | 北京百度网讯科技有限公司 | Positioning method and device |
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| CN107063282A (en) * | 2017-04-18 | 2017-08-18 | 深圳市国科微半导体股份有限公司 | A kind of automobile navigation method and its device based on tunnel |
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| CN107907897A (en) * | 2017-10-31 | 2018-04-13 | 平潭诚信智创科技有限公司 | A kind of intelligent tunnel guider and navigation system based on LIFI |
| CN107861144A (en) * | 2017-10-31 | 2018-03-30 | 平潭诚信智创科技有限公司 | A kind of intelligent tunnel air navigation aid based on RFID |
| CN107907897B (en) * | 2017-10-31 | 2020-06-02 | 深圳市汇智伟业信息技术有限公司 | Intelligent tunnel navigation device and navigation system based on LIFI |
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| CN110411461A (en) * | 2019-07-05 | 2019-11-05 | 上海博泰悦臻网络技术服务有限公司 | A kind of auxiliary navigation method, vehicle device and vehicle |
| CN111223318A (en) * | 2020-01-15 | 2020-06-02 | 北京梧桐车联科技有限责任公司 | Road condition information prompting method, device and system |
| CN111221333A (en) * | 2020-01-16 | 2020-06-02 | 天津大学 | Horizontal guiding system of vehicles with complex road conditions in tunnel based on airflow movement |
| CN111896021B (en) * | 2020-08-06 | 2022-06-10 | 南京审计大学 | Intelligent navigation method for signal-free road |
| CN111896021A (en) * | 2020-08-06 | 2020-11-06 | 南京审计大学 | Intelligent navigation method for signal-free road |
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| CN112197784A (en) * | 2020-09-30 | 2021-01-08 | 深圳道可视科技有限公司 | Obstacle detection system for vehicle |
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