CN105702093B - A kind of track decision method and positioner based on longitude and latitude collection point - Google Patents
A kind of track decision method and positioner based on longitude and latitude collection point Download PDFInfo
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- CN105702093B CN105702093B CN201610251924.8A CN201610251924A CN105702093B CN 105702093 B CN105702093 B CN 105702093B CN 201610251924 A CN201610251924 A CN 201610251924A CN 105702093 B CN105702093 B CN 105702093B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
Abstract
The invention discloses a kind of track decision method based on longitude and latitude collection point, some reference points are set to target road, obtain the principal coordinate matrix of target road, coordinates matrix is divided in each track, track where determining target vehicle, the coordinate value of vehicle is respectively referred to where collecting target vehicle in the adjacent lane in track, target vehicle is obtained by matrix computations and with reference to the actual range between vehicle, by comparing actual range and safe distance, judges whether target vehicle can be with lane change；Also disclose the positioner applied to this method.It is an advantage of the invention that：There is higher reliability compared to independent GPS, there is more preferable road fault-tolerance compared to radar, degree of safety is higher, and data feedback is also faster, by establish vehicle longitude and latitude matrix coordinate system, difference correction submit distance calculate precision, with to vehicle could lane change make advance judgement.
Description
Technical field
The present invention relates to a kind of localization method and positioner, particularly a kind of track travelled to vehicle carries out position
The method and positioner of judgement.
Background technology
With expanding economy, the owning amount of automobile is increasing rapidly, meanwhile, motor-vehicle accident also occurs again and again, and automobile chases after
Tail is one of main traffic accident.
Lift rear-ended car accident, on complicated road, its main origin cause of formation is bad because of the control of vehicle spacing, or
It is because the unexpected lane change of front truck, rear car has little time caused by deceleration.So the judgement for vehicle location in certain road, just aobvious
Must be particularly important, if the vehicle condition of adjacent lane can be judged in advance, it is possible to be ready in advance for lane change, reduction chases after
The possibility that tail accident occurs.
Existing fellow road-users situation judges mainly to have and judged by radar range finding judgement or GPS location, although
Its experimental technique is more ripe, but still there is more technical problem：
For radar surveying, it mainly carries out the ranging of wide scope by radar, certain so as to be provided to driver
Driving reference, but it is limited larger by road conditions, and the object such as some guardrails on track is easy to influence radar
Normal work；
For GPS location, it is well known that requirements of the GPS for signal is higher, is not good road in some gps signals
Section, GPS location can have a larger locating bias, data can degree of accepting and believing it is very low.
The content of the invention
Goal of the invention：In view of the above-mentioned problems, it is an object of the invention to provide a kind of track travelled to vehicle to enter line position
The method for putting judgement, can determine whether rapidly can be with lane change, and provides the positioner applied to this method.
Technical scheme：A kind of track decision method based on longitude and latitude collection point, comprises the following steps：
Step 1：Some reference points are set to target road, indicate the coordinate value of reference point, obtain the main seat of target road
Mark matrix；
Step 2：Subregion is carried out to the reference point in target road in different tracks, obtain each track divides coordinates matrix；
Step 3：Set the safe distance of vehicle lane change；
Step 4：Coordinate value during target vehicle traveling is collected, determines principal coordinate matrix and point seat where target vehicle
Matrix is marked, so that it is determined that place track of the target vehicle in target road；
Step 5：Before target vehicle lane change, respectively with reference to vehicle in the adjacent lane in track where collecting target vehicle
Coordinate value, target vehicle is obtained and with reference to the actual range between vehicle by matrix computations；
Step 6：Compare actual range and safe distance, judge whether target vehicle can be with lane change, if actual range is more than
Safe distance, then show that target vehicle, if actual range is less than safe distance, can draw target carriage with the result of determination of lane change
Cannot lane change result of determination；
Above-described coordinate value is the coordinate value with longitude and latitude determination.
In step 5, the actual range refers to：When being located at the right forward side of target vehicle direction of advance with reference to vehicle, take
The distance between the reference point of target vehicle right front and the reference point of reference vehicle left back are actual range；When with reference to vehicle
During positioned at the left forward side of target vehicle direction of advance, the reference point of target vehicle left front and the ginseng with reference to vehicle right back are taken
The distance between examination point is actual range；When being located at the right rear side of target vehicle direction of advance with reference to vehicle, target carriage is taken
The distance between the reference point of right back and reference point with reference to vehicle left front are actual range；It is located at mesh when referring to vehicle
Mark vehicle forward direction left rear side when, take target vehicle left back reference point and with reference to vehicle right front reference point it
Between distance be actual range.
In order to improve the accuracy of actual distance calculation, it is also necessary to the target vehicle to collection, the coordinate value with reference to vehicle
It is modified, comprises the following steps：
Establish vehicle longitude and latitude matrix coordinate system：A width of X, a length of Y of vehicle are set, using the left back Angle Position of vehicle as origin O,
Generate vehicle location matrix coordinate system；The density of reference point is set as Z, is received with the position of (X/2, Y/2) as vehicle coordinate value
Collect point, according to bleeding point relative to the position of the long cross direction of vehicle and vehicle at that time where longitude and latitude, in vehicle location square
Vehicle longitude and latitude matrix coordinate system is generated in the range of the matrix of battle array (X, Y) first quartile, obtains the longitude and latitude position of each position of vehicle
Parameter (i, j)；
Difference correction：Vehicle speed is set as W, vehicle traveling phase is θ to the instantaneous drift angle of direct north, the wink of vehicle
Shi Shiji longitudes and latitudes position is (iN, jN), the vehicle actual longitude and latitude position of next second is (iN+1, jN+1), the vehicle predetermined warp of next second
Latitude position is (iN+1’, jN+1’), calculate (iN+1, jN+1) and (iN+1’, jN+1’) the distance between L, relative drift angle δ, to one second time
Interior vehicle operating range M and L, θ and δ carry out difference contrast, so as to obtain amendment deviation, vehicle coordinate value are collected with this and checked and accepted
The data of collection are modified.
The longitude and latitude location parameter (i, j) of each position of vehicle is the coordinate value in the principal coordinate matrix.
A kind of positioner applied to the above-described track decision method based on longitude and latitude collection point, including：Adopt
Collect the acquisition module of latitude and longitude coordinates, to being patrolled with reference to actual range between vehicle and target vehicle with what safe distance was judged
Module is collected, enters row distance, the calculating integration module that drift angle data calculate, the reminding module prompted result of determination.
Beneficial effect：Compared with prior art, it is an advantage of the invention that：
1st, by carrying out matrixing to existing road, the reference point of array is set, car is obtained by the reference point of static state
Particular location, there is higher reliability compared to independent GPS, there is more preferable road fault-tolerance compared to radar,
Degree of safety is higher, and data feedback is also faster；
2nd, the error of vehicle data when unstable speed travels is reduced by difference correction；
3rd, by establishing vehicle longitude and latitude matrix coordinate system, compensate for single GPS device can not adapt to different size vehicle
Ranging, and gps data deviate the problem of larger；
4th, the problem of may being had a great influence for spacing by vehicle actual size, a decision algorithm is set, to eliminate
The error for the distance that different size automobiles may be brought.
Brief description of the drawings
Fig. 1 is the schematic diagram of four kinds of relative positions with reference to vehicle-to-target vehicle, and wherein A is target vehicle, B is reference
Vehicle, N are actual range；
Fig. 2 is the schematic diagram of vehicle longitude and latitude matrix coordinate system.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the present invention is furture elucidated, it should be understood that these embodiments are merely to illustrate
The present invention rather than limitation the scope of the present invention, after the present invention has been read, those skilled in the art are each to the present invention's
The modification of the kind equivalent form of value falls within the application appended claims limited range.
A kind of track decision method based on longitude and latitude collection point, specifically includes following steps：
Step 1：Some reference points are set to target road, are represented in Fig. 1 with "+", pass through longitude and latitude sign reference
The coordinate value of point, obtain the principal coordinate matrix of target road.
Step 2：Subregion is carried out to the reference point in target road in different tracks, obtains point seat corresponding to each track
Mark matrix.
Step 3：Set the safe distance of vehicle lane change.
Step 4：When target vehicle travels, by collecting the real-time longitude of target vehicle and latitude coordinate values, so that it is determined that
Principal coordinate matrix where target vehicle, so as to call a point coordinates matrix, to determine which in target road of target vehicle
Track.
Step 5：Before target vehicle is intended to lane change, vehicle is respectively referred in the adjacent lane in track where collecting target vehicle
Longitude and latitude coordinate values, pass through matrix computations and obtain target vehicle and with reference to the actual range between vehicle.
According to target vehicle and the relative transport condition with reference to vehicle, as shown in Figure 1, actual range refers to：When with reference to car
When B is located at the right forward side of target vehicle A directions of advance, the reference point of target vehicle right front is taken and with reference to vehicle left back
The distance between reference point be actual range N；When being located at the left forward side of target vehicle A directions of advance with reference to vehicle B, take
The distance between the reference point of target vehicle left front and the reference point of reference vehicle right back are actual range N；When with reference to car
When B is located at the right rear side of target vehicle A directions of advance, the reference point of target vehicle right back is taken and with reference to vehicle left front
The distance between reference point be actual range N；When being located at the left rear side of target vehicle A directions of advance with reference to vehicle B, take
The distance between the reference point of target vehicle left back and the reference point of reference vehicle right front are actual range N.
Target vehicle to collection, the longitude with reference to vehicle and latitude coordinate values also need to be modified, with improve it is actual away from
From the accuracy of calculating, comprise the following steps：
First, vehicle longitude and latitude matrix coordinate system is established：Set vehicle a width of X, a length of Y, using the left back Angle Position of vehicle as
Origin O, generation vehicle location matrix coordinate system；The density of reference point is set as Z, i.e., between the horizontal of neighboring reference point "+", longitudinal direction
It is Z, with the position of (X/2, Y/2) as vehicle coordinate value bleeding point, according to bleeding point relative to vehicle length and width side away from equal
To position and vehicle at that time where longitude and latitude, generated in the range of the matrix of vehicle location matrix (X, Y) first quartile
Vehicle longitude and latitude matrix coordinate system, as shown in Figure 2, obtain the longitude and latitude location parameter (i, j) of each position of vehicle, it is seen then that the ginseng
Number (i, j) and the longitude and latitude coordinate values of the reference point in principal coordinate matrix are consistent.
Then, difference correction：Vehicle speed is set as W, unit m/s, vehicle travels phase to the instantaneous inclined of direct north
Angle is θ, and the instantaneous actual longitude and latitude position of vehicle is (iN, jN), the vehicle actual longitude and latitude position of next second is (iN+1, jN+1), vehicle
The predetermined longitude and latitude position of next second is (iN+1’, jN+1’), according to principal coordinate matrix computations (iN+1, jN+1) and (iN+1’, jN+1’) between
Distance L, relative drift angle δ, difference contrast is carried out to vehicle operating range M and L, θ and δ in one second time, so as to be corrected
Deviation, the data collected by the amendment deviation to vehicle coordinate value bleeding point are modified.Can also M corresponding to time T and
L, θ and δ carries out difference contrast.
Step 6：Compare actual range and safe distance, judge whether target vehicle can be with lane change, if actual range is more than
Safe distance, then show that target vehicle, if actual range is less than safe distance, can draw target carriage with the result of determination of lane change
Cannot lane change result of determination.
Applied to the positioner of track decision method of the present invention, including：The acquisition module of latitude and longitude coordinates is gathered, to ginseng
The logic module that actual range is judged with safe distance between vehicle and target vehicle is examined, enters row distance, drift angle data meter
The calculating integration module of calculation, the reminding module prompted result of determination.
Claims (5)
1. a kind of track decision method based on longitude and latitude collection point, it is characterised in that comprise the following steps：
Step 1：Some reference points are set to target road, indicate the coordinate value of reference point, obtain the principal coordinate square of target road
Battle array；
Step 2：Subregion is carried out to the reference point in target road in different tracks, obtain each track divides coordinates matrix；
Step 3：Set the safe distance of vehicle lane change；
Step 4：Coordinate value during target vehicle traveling is collected, the principal coordinate matrix where target vehicle is determined and divides coordinate square
Battle array, so that it is determined that place track of the target vehicle in target road；
Step 5：Before target vehicle lane change, the coordinate of vehicle is respectively referred to where collecting target vehicle in the adjacent lane in track
Value, target vehicle is obtained and with reference to the actual range between vehicle by matrix computations；
Step 6：Compare actual range and safe distance, judge whether target vehicle can be with lane change, if actual range is more than safety
Distance, then show that target vehicle, if actual range is less than safe distance, can draw target vehicle not with the result of determination of lane change
Can be with the result of determination of lane change；
Above-described coordinate value is the coordinate value with longitude and latitude determination.
A kind of 2. track decision method based on longitude and latitude collection point according to claim 1, it is characterised in that：Step 5
In, the actual range refers to：
When being located at the right forward side of target vehicle direction of advance with reference to vehicle, reference point and the reference of target vehicle right front are taken
The distance between reference point of vehicle left back is actual range；When the front for being located at target vehicle direction of advance with reference to vehicle is left
During side, it is actual range to take the distance between the reference point of target vehicle left front and the reference point with reference to vehicle right back；When
When being located at the right rear side of target vehicle direction of advance with reference to vehicle, the reference point of target vehicle right back is taken and with reference to a vehicle left side
The distance between the reference point in front is actual range；When being located at the left rear side of target vehicle direction of advance with reference to vehicle,
It is actual range to take the distance between the reference point of target vehicle left back and the reference point with reference to vehicle right front.
A kind of 3. track decision method based on longitude and latitude collection point according to claim 1, it is characterised in that：To collecting
Target vehicle, be modified with reference to the coordinate value of vehicle, comprise the following steps：
Establish vehicle longitude and latitude matrix coordinate system：A width of X, a length of Y of vehicle are set, using the left back Angle Position of vehicle as origin O, generation
Vehicle location matrix coordinate system；The density of reference point is set as Z, with the position of (X/2, Y/2) as vehicle coordinate value bleeding point,
According to bleeding point relative to the position of the long cross direction of vehicle and vehicle at that time where longitude and latitude, vehicle location matrix (X,
Y vehicle longitude and latitude matrix coordinate system) is generated in the range of the matrix of first quartile, obtains the longitude and latitude location parameter of each position of vehicle
(i, j)；
Difference correction：Vehicle speed is set as W, vehicle traveling phase is θ to the instantaneous drift angle of direct north, the instantaneous reality of vehicle
Border longitude and latitude position is (iN, jN), the vehicle actual longitude and latitude position of next second is (iN+1, jN+1), the vehicle predetermined longitude and latitude position of next second
It is set to (iN+1’, jN+1’), calculate (iN+1, jN+1) and (iN+1’, jN+1’) the distance between L, relative drift angle δ, to car in one second time
Operating range M and L, θ and δ carry out difference contrast, and so as to obtain amendment deviation, vehicle coordinate value bleeding point is collected with this
Data are modified.
A kind of 4. track decision method based on longitude and latitude collection point according to claim 3, it is characterised in that：The car
The longitude and latitude location parameter (i, j) of each position is the coordinate value in the principal coordinate matrix.
A kind of 5. positioning dress applied to any described track decision methods based on longitude and latitude collection point of claim 1-4
Put, it is characterised in that including：
The acquisition module of latitude and longitude coordinates is gathered,
To referring to the logic module that actual range is judged with safe distance between vehicle and target vehicle,
Enter row distance, the calculating integration module that drift angle data calculate,
The reminding module prompted result of determination.
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| CN111898835B (en) * | 2020-08-11 | 2022-02-22 | 腾讯科技（深圳）有限公司 | Intelligent traffic management method, device, computer and readable storage medium |
| CN111933019B (en) * | 2020-08-19 | 2022-07-01 | 兰州深蓝图形技术有限公司 | Method and device for generating traffic route facility equipment distribution diagram |
| CN114333298B (en) * | 2021-12-02 | 2024-02-23 | 河北雄安京德高速公路有限公司 | Vehicle attribution lane estimation method based on traffic radar |
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