CN106530789A - Automobile parking point static drift detection method and system - Google Patents
Automobile parking point static drift detection method and system Download PDFInfo
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- CN106530789A CN106530789A CN201610934509.2A CN201610934509A CN106530789A CN 106530789 A CN106530789 A CN 106530789A CN 201610934509 A CN201610934509 A CN 201610934509A CN 106530789 A CN106530789 A CN 106530789A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/52—Determining velocity
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides an automobile parking point static drift detection method and system. The method comprises the following steps: when an automobile is in a parking state, obtaining a plurality of automobile parking point information according to time sequence, and adding the parking point information into a parking point list; according to the parking point information in the parking point list, determining a logic parking center point and a logic parking range of the automobile; re-obtaining new parking point information of the automobile; according to position coordinates and vehicle speed of the new parking point of the automobile, judging whether the new automobile parking point is within the logic parking range and the vehicle speed is smaller or equal to a preset driving judgment speed; if so, connecting the new automobile parking point with the last two automobile parking points in the parking point list in the obtaining time to form a parking point included angle; and judging whether the parking point included angle is larger than or equal to a preset drift judgment angle, and if so, determining the new automobile parking point as a static drift point. The technical scheme can detect whether the positioning information has automobile parking point drift cases.
Description
Technical field
The present invention relates to communication technical field, more specifically, is related to a kind of static drift detection of parking of automobile point
Method and system.
Background technology
Automobile GPS (Global Positioning System, global positioning system) location technology is widely used in automobile
Positioning, navigation and the field such as antitheft.In order to realize the positioning of automobile, generally require GPS car antennas are arranged in automobile, lead to
Cross the car antenna and launch signal of communication to gps satellite, so that gps satellite determines the number such as position of automobile according to the signal of communication
According to then gps satellite can be sent to terrestrial user equipment the GPS location signal comprising vehicle location data (such as GPS
Or server), terrestrial user equipment by carrying out analytical Calculation to the GPS location signal, so as to realize the positioning to automobile.Example
Such as：When automobile is in dead ship condition, gps satellite earthward can send GPS location signal, the GPS location signal by user equipment
Including stop information, terrestrial user equipment is parsed to the GPS location signal, gets stop information.
However, in automobile GPS positioning technology, the stop information that terrestrial user equipment gets actually is stopped with automobile
Error be there may be between car point, when actually used, the position coordinateses of the parking of automobile point that terrestrial user equipment shows are by Jing
Often change, this kind of error is referred to as static drift.The error that parking of automobile point occurs during GPS location can mainly be divided into three
Class：The error relevant with gps satellite and signal propagate relevant error and the error with terrestrial user device-dependent.These
Impact of the error to GPS location is different；And position of the size of error also with satellite, waypoint location, terrestrial user set
The factors such as standby, observation time, atmospheric environment and geographical environment are relevant.The clocking error of such as gps satellite, even if gps satellite
Very accurate complexity, it can calculate some atomic little information, but still can there are some small errors and produce, even if defending
The positioning of star constantly can be monitored, but be not each second all in monitored state, during this period once having small
The generation of position error or satellite ephemeris error, will have influence on terrestrial user equipment in the stop location Calculation side to automobile
The accuracy in face, so as to produce static drift phenomenon.
The stop information that terrestrial user equipment gets is probably accurate parking of automobile point, it is also possible to static drift
Point.In actual use, it is difficult to accurately determine that the stop information that ground user equipment gets whether there is static drift.This
Sample has led to positioning inaccurate situation, or even the positioning precision for affecting equipment.
The content of the invention
It is an object of the invention to provide a kind of technical scheme of the static drift detection of parking of automobile point, to solve background skill
It is difficult to accurately determine problem of the stop information with the presence or absence of static drift in prior art described in art.
In order to solve above-mentioned technical problem, the present invention provides following technical scheme：
The invention provides a kind of static drift detection method of parking of automobile point, the detection method includes：
When it is determined that automobile is in dead ship condition, the stop information of the multiple automobiles of pre-acquiring, incites somebody to action in chronological order
The stop information of the plurality of automobile is added in parking point list, wherein, parking of automobile is included in the stop information
Position coordinateses, speed and the acquisition time put；
According to the stop information in the parking point list, determine the logic parking central point of the automobile and surround
The logic Parking range of the logic parking central point；
The new stop information of the automobile is reacquired, the position comprising new cars stop in the new stop information
Put coordinate, speed and acquisition time；
According to the position coordinateses and speed of the new cars stop, judge whether that the new cars stop is located at described
Logic Parking range is interior and speed judges speed less than or equal to preset travel；
If the new cars stop is located in the logic Parking range and speed is judged less than or equal to preset travel
Speed, then connect the new cars stop and the upper two last parking of automobile points of acquisition time in parking point list, constitute
Stop angle, wherein, the stop angle is to be stopped so that a time upper last automobile is obtained in the parking point list
Angle of the car point for summit；
Judge whether the angle of the stop angle judges angle more than or equal to default drift, if the angle of the angle
Degree judges angle more than or equal to default drift, it is determined that the new cars stop is static drift point.
Preferably, judge whether the new cars stop be located at the logic Parking range in and speed be less than or wait
Before preset travel judges speed, methods described also includes：
A time upper last parking of automobile point is obtained in judging the new cars stop and the parking point list
Acquisition time interval whether be spaced less than or equal to predetermined minimum time, if, it is determined that the automobile is in transport condition,
The new cars stop is invalid；
If the new cars stop is more than with the acquisition time interval of a last parking of automobile point presetting most
Little time interval, then judge the position coordinateses of the new cars stop whether position with a last parking of automobile point
Put coordinate identical；
If the position coordinateses are identical, it is determined that the automobile is in dead ship condition, the new stop information is added
Into the parking point list；
If the position coordinateses are different, perform it is described judge whether new cars stop be located at logic Parking range it is interior and
The step of speed judges speed less than or equal to preset travel.
Preferably, judge whether the new cars stop be located at the logic Parking range in and speed be less than or wait
After preset travel judges speed, methods described also includes：
If the new cars stop exceeds the logic Parking range, or speed judges speed more than preset travel, then
The automobile is determined in transport condition, the new cars stop is invalid；
If the new cars stop is located in the logic Parking range and speed is judged less than or equal to preset travel
Speed, then judge whether the speed of the new cars stop judges speed and the new cars less than or equal to default stop
Stop is located at default stop in the range of judgement；
If the speed of the new cars stop judges speed and the new cars stop less than or equal to default stop
Stop in the range of judgement positioned at default, it is determined that the automobile is in dead ship condition, and the new stop information is added to institute
State in parking point list, wherein, the default stop judges that speed judges speed, the default stop less than the preset travel
Judge that scope is less than the logic Parking range；
If more than default the stop, the speed of the new cars stop judges that speed or the new cars stop are super
Go out default the stop and judge scope, then perform the connection new cars stop last with the acquisition time in parking point list
The step of two parking of automobile points, composition stop angle.
Preferably, when it is determined that the new cars stop is static drift point, methods described also includes：
Calculate the position of the position coordinateses and the logic parking central point of all parking of automobile points in the parking point list
Put the spacing variance of coordinate；
Delete in the middle of the parking point list away from variance more than or equal to the stop information for presetting variance threshold values, according to institute
The position coordinateses for stating remaining parking of automobile point in parking point list calculate the new logic parking central point of the automobile and surround
The new logic Parking range of the new logic parking central point；
Original logic parking central point is replaced using the new logic parking central point, and is stopped using the new logic
Car scope replaces original logic Parking range.
Preferably, methods described also includes：
If the angle of the stop angle judges angle less than default drift, the new parking of the automobile is reacquired
Whether point information, the angle for rejudging the stop angle judge angle less than default drift；
The angle of accumulative stop angle judges the occurrence number of angle less than default drift, if the occurrence number is more than
Or be equal to predetermined occurrence number, it is determined that the automobile be in transport condition, and the occurrence number corresponding automobile stops respectively
Car point is invalid.
Preferably, the stop information in the point list according to parking, determines the logic parking central point of the automobile
And around the logic Parking range of the logic parking central point, including：
According to the position coordinateses of parking of automobile point, the normal state of each parking of automobile point position in the parking point list is determined
Distribution；
According to the probability density size of the position coordinateses of parking of automobile point in the normal distribution, patrolling for the automobile is determined
Collect parking central point；
Stopped according to the probability density size of the position coordinateses of parking of automobile point in the normal distribution and the logic
Central point, determines the logic Parking range.
According to the second aspect of the invention, a kind of static drift detecting system of parking of automobile point, the inspection are additionally provided
Examining system includes：
First acquisition module, for when it is determined that automobile is in dead ship condition, multiple vapour of pre-acquiring in chronological order
The stop information of car, the stop information of the plurality of automobile is added in parking point list, wherein, the stop letter
Position coordinateses comprising parking of automobile point, speed and acquisition time in breath；
First determining module, for according to the stop information in the parking point list, determining the logic of the automobile
Parking central point and the logic Parking range around the logic parking central point；
Second acquisition module, for reacquiring the new stop information of the automobile, wraps in the new stop information
Position coordinateses containing new cars stop, speed and acquisition time；
First judge module, for position coordinateses and speed according to the new cars stop, judges whether described new
Parking of automobile point is located in the logic Parking range and speed judges speed less than or equal to preset travel；
Module is built, if for the new cars stop is in the logic Parking range and speed is less than or equal to
When preset travel judges speed, connect the new cars stop with the upper two last automobiles of acquisition time in parking point list
Stop, constitutes stop angle, wherein, the stop angle is upper last so that the time is obtained in the parking point list
Angle of one parking of automobile point for summit；
Second judge module, for judging the angle of the stop angle whether more than or equal to default drift judgement angle
Degree, if the angle of the angle judges angle more than or equal to default drift, it is determined that the new cars stop is static drift
Move point.
Preferably, the system also includes：
3rd judge module, for judging to obtain the time above finally in the new cars stop and the parking point list
The acquisition time interval of a parking of automobile point whether be spaced less than or equal to predetermined minimum time,
Second determining module, if be spaced less than or equal to predetermined minimum time for the acquisition time interval, it is determined that
The automobile is in transport condition, and the new cars stop is invalid；
4th judge module, if for the new cars stop and a last parking of automobile point acquisition when
Between interval when being spaced more than predetermined minimum time, judge the position coordinateses of the new cars stop whether with described last vapour
The position coordinateses of car stop are identical；
3rd determining module, if for the position coordinateses it is identical when, determine that the automobile, will be described in dead ship condition
New stop information is added into the parking point list；
If first judge module is specifically for position coordinateses difference, described in execution, judge whether that new cars stop
The step of car point is located in logic Parking range and speed judges speed less than or equal to preset travel.
Preferably, the system also includes：
4th determining module, if exceeding the logic Parking range, or speed more than pre- for the new cars stop
If traveling judges speed, the automobile is determined in transport condition, the new cars stop is invalid；
5th judge module, if for the new cars stop be located at the logic Parking range in and speed be less than or
When speed is judged equal to preset travel, judge whether the speed of the new cars stop judges car less than or equal to default stop
Speed, and the new cars stop be located at it is default stop judge in the range of；
5th determining module, if for the new cars stop speed less than or equal to it is default stop judge speed,
And the new cars stop is located at when presetting in the range of stop judgement, determines the automobile in dead ship condition, will be described new
Stop information is added in the parking point list, wherein, the default stop judges that speed is sentenced less than the preset travel
Determine speed, the default stop judges that scope is less than the logic Parking range；
The structure module, if judging speed more than default the stop specifically for the speed of the new cars stop
Or the new cars stop judges scope beyond default the stop, then perform the connection new cars stop and stop
Time last two parking of automobile points are obtained in list, the step of constitute stop angle.
Preferably, the system also includes：
Computing module, the position coordinateses and the logic for calculating all parking of automobile points in the parking point list stop
The spacing variance of the position coordinateses of car central point；
Removing module, for deleting in the middle of the parking point list away from variance more than or equal to the parking for presetting variance threshold values
Point information, during the new logic for calculating the automobile according to the position coordinateses of remaining parking of automobile point in the parking point list is stopped
Heart point and the new logic Parking range around the new logic parking central point；
Replacement module, for replacing original logic parking central point using the new logic parking central point, and makes
Original logic Parking range is replaced with the new logic Parking range.
Preferably, the system also includes：
3rd acquisition module, if judge angle less than default drift for the angle of the stop angle, is obtained again
Take the new stop information of the automobile；
6th judge module, for whether rejudging the angle of the stop angle less than default drift judgement angle
Degree；
Accumulation module, judges the occurrence number of angle, if institute for adding up the angle of stop angle less than default drift
Occurrence number is stated more than or equal to predetermined occurrence number, it is determined that the automobile is in transport condition, and the occurrence number point
Not corresponding parking of automobile point is invalid.
Preferably, first determining module, including：
First determination sub-module, for the position coordinateses according to parking of automobile point in parking point list, determines the parking
The normal distribution of each parking of automobile point position in point list；
Second determination sub-module is big for the probability density according to the position coordinateses of parking of automobile point in the normal distribution
It is little, determine the logic parking central point of the automobile；
3rd determination sub-module is big for the probability density according to the position coordinateses of parking of automobile point in the normal distribution
Little and described logic parking central point, determines the logic Parking range.
The static drift detection scheme of the parking of automobile point that the present invention is provided, by the stop letter for obtaining multiple automobiles
Breath, determines the logic parking central point and the logic parking model around the logic parking central point of automobile according to stop information
Enclose, it is determined that new cars stop leads in logic Parking range and when speed is less than or equal to preset travel judgement speed
The stop angle of connection new cars stop and most latter two parking of automobile point composition on the acquisition time in parking point list is crossed,
By whether judging the angle of stop angle more than or equal to default drift judgement angle, so that it is determined that the new cars stop
Whether it is static drift point.
When new cars stop is located in logic Parking range and speed judges speed less than or equal to preset travel, base
Originally can determine that automobile is in dead ship condition.During static drift, the parking of automobile point of display with logic parking central point is often
Center changes.And, in new cars stop and parking point list on the acquisition time most. in static drift in most cases
The angle that two parking of automobile points afterwards are constituted often is more than certain angle, therefore, by the angle for judging stop angle
Whether angle is judged more than or equal to default drift, can accurately determine whether the new cars stop is static drift point, from
And reduce the site error between the stop and actual stop for showing.
Description of the drawings
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, below will be to making needed for embodiment description
Accompanying drawing is briefly described, it should be apparent that, for those of ordinary skills, do not paying creative work
Property on the premise of, can be obtaining other accompanying drawings according to these accompanying drawings.
Fig. 1 is a kind of flow process of the static drift detection method of the parking of automobile point shown in an exemplary embodiment of the invention
Schematic diagram；
Fig. 2 is a kind of flow process of the static drift detection method of the parking of automobile point shown in an exemplary embodiment of the invention
Schematic diagram；
Fig. 3 is a kind of motion state of automobile schematic diagram shown in an exemplary embodiment of the invention；
Fig. 4 is a kind of flow process of the static drift detection method of the parking of automobile point shown in an exemplary embodiment of the invention
Schematic diagram；
Fig. 5 is a kind of flow process of the static drift detection method of the parking of automobile point shown in an exemplary embodiment of the invention
Schematic diagram；
Fig. 6 is a kind of flow process of the static drift detection method of the parking of automobile point shown in an exemplary embodiment of the invention
Schematic diagram；
Fig. 7 is a kind of flow process of the static drift detection method of the parking of automobile point shown in an exemplary embodiment of the invention
Schematic diagram；
Fig. 8 is a kind of structure of the static drift detecting system of the parking of automobile point shown in an exemplary embodiment of the invention
Schematic diagram；
Fig. 9 is a kind of structure of the static drift detecting system of the parking of automobile point shown in an exemplary embodiment of the invention
Schematic diagram；
Figure 10 is a kind of knot of the static drift detecting system of the parking of automobile point shown in an exemplary embodiment of the invention
Structure schematic diagram；
Figure 11 is a kind of knot of the static drift detecting system of the parking of automobile point shown in an exemplary embodiment of the invention
Structure schematic diagram；
Figure 12 is a kind of knot of the static drift detecting system of the parking of automobile point shown in an exemplary embodiment of the invention
Structure schematic diagram；
Figure 13 is a kind of knot of the static drift detecting system of the parking of automobile point shown in an exemplary embodiment of the invention
Structure schematic diagram.
Specific embodiment
The static drift detection scheme of parking of automobile point provided in an embodiment of the present invention, solves described in background technology
Be difficult to accurately determine stop information with the presence or absence of static drift problem.
In order that those skilled in the art more fully understand the technical scheme in the embodiment of the present invention, and make of the invention real
Apply the above-mentioned purpose of example, feature and advantage can become apparent from it is understandable, below in conjunction with the accompanying drawings to the technology in the embodiment of the present invention
Scheme is described in further detail.
Accompanying drawing 1 is referred to, Fig. 1 is a kind of application scenarios schematic diagram shown in an exemplary embodiment of the invention, such as Fig. 1 institutes
Show, in the application scenarios, gps satellite 1 obtains the kinestate of automobile by the GPS car antennas on automobile 2, so as to realize
Positioning to automobile 2.When automobile is in dead ship condition, gps satellite 1 can send fixed with regard to the GPS of the automobile 2 to server 3
Position signal, GPS location signal include the stop information of automobile 2.Server 3 parses the GPS location signal, obtains stop letter
Breath, and by determining in multiple stop information that the stop angle that new cars stop is constituted judges angle with default drift
Relation, determines whether new cars stop is static drift point.Wherein, server 3 can be special server, it is also possible to
Equipment with GPS function (such as mobile phone etc.) is integrated, used as a part for this kind equipment.
Accompanying drawing 2 is refer to, Fig. 2 is a kind of static drift inspection of the parking of automobile point shown in an exemplary embodiment of the invention
The schematic flow sheet of survey method, as shown in Fig. 2 the detection method is comprised the following steps：
S110：The stop information of the multiple automobiles of pre-acquiring, the stop information of multiple automobiles is added in chronological order
To in parking point list.When the stop information is to primarily determine that automobile is in dead ship condition, arrived according to GPS location signal acquisition
Automobile stop information.Wherein, the position coordinateses comprising parking of automobile point, speed and acquisition time etc. in stop information
Information.
S120：According to the stop information in parking point list, determine the logic parking central point of automobile and surround and patrol
Collect the logic Parking range of parking central point.
The logic parking central point of automobile is the actual parking of automobile estimated according to the stop information in parking point list
Point；And the logic Parking range for surrounding the logic parking central point is the possible Parking range of automobile estimated.When the vapour for obtaining
When the position coordinateses of the new cars stop of car are in the Parking range, illustrate that the new cars stop possibly automobile is in and stop
Stop during car state.
Wherein, step S120：Determine the logic parking central point of automobile and stop around the logic of logic parking central point
Car scope, comprises the following steps：S121：According to the position coordinateses of parking of automobile point, it is determined that each automobile stops in parking point list
The normal distribution of car point position；S122：According to the probability density size of the position coordinateses of parking of automobile point in normal distribution, it is determined that
The logic parking central point of automobile；S123：According to the probability density size of the position coordinateses of parking of automobile point in normal distribution with
And logic parking central point, determine logic Parking range.
Specifically, it is possible, firstly, to logic parking central point as the center of circle, with the preset distance apart from logic parking central point
Used as logic radius of circle, construction logic is justified, wherein, during the logic radius of circle can stop from the logic for parking point list middle-range
The spacing of the position coordinateses of the farthest parking of automobile point of heart point；Then, with logic parking central point as the center of circle, with 2 times of logic
Radius of the radius of circle as logic Parking range, surrounds logic Parking range.According to new cars stop and the logic parking model
Whether the relation enclosed, determine automobile in transport condition.
S130：The new stop information of automobile is reacquired, the position comprising new cars stop in new stop information
Coordinate, speed and acquisition time；
S140：According to the position coordinateses and speed of new cars stop, judge whether that new cars stop stops positioned at logic
In the range of car and speed less than or equal to preset travel judge speed；
Logic Parking range is the possible Parking range of automobile estimated, according to the position of the new new cars stop for obtaining
Whether coordinate, determines that new cars stop is located in logic Parking range, and be less than or wait according to the speed of new cars stop
Speed is judged in default traveling, can determine the automobile whether in dead ship condition.
Fig. 3 is a kind of schematic diagram of the motion state of automobile shown in an exemplary embodiment of the invention.As shown in figure 3,
The summit of the bell shaped curve of the Gauss distribution of all stops compositions of automobile in the map of Fig. 3, can be taken, is stopped as logic
Central point；With the logic parking central point as the center of circle, with the probability density distribution scope place distance of most of parking of automobile points
For radius, logic Parking range is constituted.
S150：If new cars stop is located in logic Parking range and speed judges car less than or equal to preset travel
Speed, then connect new cars stop and the upper two last parking of automobile points of acquisition time in parking point list, constitute stop
Angle, wherein, stop angle is the folder that a time upper last parking of automobile point is obtained with point list of stopping as summit
Angle；
When new cars stop is located in logic Parking range and speed judges speed less than or equal to preset travel, energy
Enough preliminary automobiles that excludes are in transport condition, primarily determine that automobile is in dead ship condition.So as to convenient according to new stop information
Determine whether its new cars stop for including is for static drift point.
S160：Judge whether the angle of stop angle judges angle more than or equal to default drift, if stop angle
Angle judge angle more than or equal to default drift, then execution step S170；
In most cases, in new cars stop and parking point list, the time is obtained above finally due in static drift
The angle that two parking of automobile points are constituted often is more than certain angle, therefore by the angle that judges the stop angle whether
Angle is judged more than or equal to default drift, can judge angle more than or equal to default drift in the angle of stop angle
When, determine that the new cars stop is static drift point.Wherein it is preferred to, preset drift and judge that angle can be at 30 degree to 50
In the range of degree, preferred angle is 45 degree.
S170：If the angle of stop angle judges angle more than or equal to default drift, it is determined that new cars stop
For static drift point.
The static drift detection method of parking of automobile point provided in an embodiment of the present invention, by the parking for obtaining multiple automobiles
Point information, determines the logic parking central point of automobile according to stop information and stops around the logic of the logic parking central point
Car scope, it is determined that new cars stop is located in logic Parking range and speed judges speed less than or equal to preset travel
When, by the stop for connecting new cars stop and most latter two parking of automobile point composition on the acquisition time in parking point list
Angle, by whether judging the angle of stop angle more than or equal to default drift judgement angle, so that it is determined that the new cars
Whether stop is static drift point.
When new cars stop is located in logic Parking range and speed judges speed less than or equal to preset travel, base
Originally can determine that automobile is in dead ship condition.During static drift, the parking of automobile point of display with logic parking central point is often
Center changes.And, in new cars stop and parking point list on the acquisition time most. in static drift in most cases
The angle that two parking of automobile points afterwards are constituted often is more than certain angle, therefore, by the angle for judging stop angle
Whether angle is judged more than or equal to default drift, can accurately determine whether the new cars stop is static drift point, from
And reduce the site error between the stop and actual stop for showing.
As shown in figure 4, as a kind of preferred embodiment, in the embodiment depicted in figure 2 the step of S140：Judge whether new
Before parking of automobile point is located in logic Parking range and speed judges speed less than or equal to preset travel, the present embodiment is provided
Parking of automobile point static drift detection method in addition to each step shown in Fig. 2, also include：
S210：Obtaining for a time upper last parking of automobile point is obtained in judging new cars stop and parking point list
Take whether time interval is spaced less than or equal to predetermined minimum time；If so, then execution step S220；If it is not, then execution step
S230。
Under normal circumstances, a time upper last parking of automobile point is obtained in new cars stop and parking point list
Time interval is obtained between the 25-35 seconds, the preferred time interval that obtains is about at 30 seconds or so.
S220：Automobile is determined in transport condition, new cars stop is invalid.
When the acquisition time interval is less than or equal to prefixed time interval (such as 15 seconds), automobile is likely to be at particular field
Scape, for example：In automobile turning, data can be uploaded immediately；In tracking motor, obtain time interval and can also diminish.Now, may be used
Parking of automobile point is determined in transport condition, new cars stop is invalid.
S230：Judge whether the position coordinateses of new cars stop go up a last parking of automobile point with the time of acquisition
Position coordinateses are identical；If position coordinateses are identical, execution step S240.
S240：Determine that automobile, in dead ship condition, new stop information is added into parking point list.
If obtaining a time upper last parking of automobile point in the position coordinateses of new cars stop and parking point list
Position coordinateses it is identical, then illustrate that the automobile may be real parking of automobile point, you can determine automobile be in dead ship condition.
If position coordinateses are different, execution judges whether new cars stop is located in logic Parking range and speed is less than
Or be equal to preset travel judge speed the step of.
It is analyzed by the acquisition time interval and position coordinateses to parking of automobile point, so as to accurately determine that automobile is
No to be kept in motion, whether effectively parking of automobile point, reduces the erroneous judgement that the static drift to parking of automobile point is detected.
As a kind of preferred embodiment, as shown in figure 5, the inspection of the static drift of the parking of automobile point of the present embodiment offer
Survey method, in the embodiment depicted in figure 2 step S140：Judge whether that new cars stop is located in logic Parking range and speed
Judge, after speed, also to include less than or equal to preset travel：
S310：If new cars stop exceeds logic Parking range or speed judges speed more than preset travel, it is determined that
Automobile is in transport condition, and new cars stop is invalid.
Logic Parking range is the possible Parking range of automobile estimated, new cars stop is beyond the logic parking model
Enclosing, or speed being when judging speed more than preset travel, automobile can be determined like clockwork in transport condition, new cars stop
Car point is invalid, so as to exclude automobile in dead ship condition or the possibility of static drift.
S320：If new cars stop is located in logic Parking range and speed judges car less than or equal to preset travel
Speed, then judge whether the speed of new cars stop is less than or equal to default stop judgement speed and new cars stop is located at
It is default to stop in the range of judgement.
S330：If the speed of new cars stop judges speed and new cars stop position less than or equal to default stop
Stop in the range of judgement in default, it is determined that automobile is in dead ship condition, and new stop information is added in parking point list,
Wherein, preset stop and judge that speed judges speed less than preset travel, preset stop and judge that scope is less than logic Parking range.
Default stop judges that speed is the max speed allowed when it is determined that whether automobile is in dead ship condition；And preset and stop
Judgement scope is stayed to be to determine whether the position of vehicle does not move the judgement scope in dead ship condition, by judging that new cars stop
Whether less than or equal to presetting, stop judges speed to the speed of car point and whether new cars stop is located at default stop judgement model
In enclosing, automobile can be determined like clockwork whether in dead ship condition, and the position of automobile does not change or automobile just
In moving process.Wherein, preset to stop and judge that speed can be set to 0m/s；And default stop judges that scope may be configured as patrolling
It is the center of circle to collect parking central point, is justified with the logic that above-mentioned preset distance is surrounded.
If more than default stop, the speed of new cars stop judges that speed or new cars stop are sentenced beyond default stop
Determine scope, then execution step S150：Connection new cars stop two automobiles last with the acquisition time in parking point list stop
Che Dian, constitutes stop angle.
Speed is judged more than default stop in the speed of new cars stop, illustrate automobile may moving slowly at or
GPS information is wrong；And new cars stop judges scope beyond default stop, illustrate that automobile is likely to be at kinestate or quiet
In state drifting state.Connection new cars stop two parking of automobile last with the acquisition time in parking point list are performed now
Point, constitutes stop angle, can accurately determine whether the new cars stop is static drift point, so as to reduce new stop
Site error between the new cars stop included in information and actual stop.
The generation of static error, may be with the position of gps satellite, parking of automobile point position, GPS position, air
The factor such as environment and geographical environment is relevant.When a static error is detected, illustrate in a period of time, in parking point list
Parking of automobile point or subsequently received parking of automobile point be likely to as static drift point.
In order to accurately determine the kinestate of automobile, and static drift point is detected as much as possible, so as to avoid static state
Interference of the shift point to determination motion state of automobile, as a kind of preferred embodiment of the invention, as shown in fig. 6, in the present invention
In the detection method of the static drift of the parking of automobile point that embodiment is provided, when it is determined that new cars stop is static drift point
When, this detection method also includes：
S410：In calculated target point list, the position of the position coordinateses and logic parking central point of all parking of automobile points is sat
Target spacing variance.
In parking point list, the position coordinateses of all parking of automobile points has relative to logic parking central point far have near, passes through
Calculate the spacing variance of the position coordinateses of the position coordinateses and logic parking central point of parking of automobile point.So as to accurately determination
Distance of the parking of automobile point apart from logic parking central point, and then distant parking of automobile point is deleted, in terms of again
Calculate more accurate logic Parking range.
S420：The stop information for being more than or equal to default variance threshold values in the middle of parking point list away from variance is deleted, according to
In parking point list, the position coordinateses of remaining parking of automobile point calculate the new logic parking central point of automobile and surround new logic
The new logic Parking range of parking central point.
Wherein it is possible to the order according to spacing variance from big to small is arranged in order parking of automobile point, delete spacing variance compared with
The parking of automobile point of big front 30%, and retain the less rear 70% parking of automobile point of spacing variance.Implement according to Fig. 2
Logic Parking range computational methods in example understand that the position of the farthest parking of automobile point of selected distance logic parking central point is sat
The spacing of the position coordinateses of mark and the logic parking central point is used as logic radius of circle, construction logic circle；Then, stopped with logic
Central point is the center of circle, using 2 times of logic radius of circle as the radius of the logic Parking range, surrounds the new logic parking model
Enclose.Parking of automobile point as 70% can be taken, therefore, in the case of having more static drift point, new logic Parking range
To become big relative to original logic Parking range；And when GPS location is accurate, new logic Parking range is patrolled relative to original
Collect Parking range to diminish.
S430：Original logic parking central point is replaced using new logic parking central point, and is stopped using new logic
Scope replaces original logic Parking range.
Original logic parking central point is replaced by using new logic parking central point, vapour can be more accurately determined
The parking spot of car；Original logic Parking range is replaced by using new logic Parking range, due to there is more static drift
In the case of point, new logic Parking range will become big relative to original logic Parking range, therefore, the method energy of the present embodiment
It is enough to detect static drift point as much as possible, and further make a distinction, determine the final kinestate of automobile.
In the embodiment depicted in figure 2, the new cars stop parking of automobile point last with the acquisition time in parking point list
Position it is different, when the angle of stop angle judges angle less than default drift, illustrate that the automobile is likely to be at low-angle
Driving states at a slow speed (as low-angle turn).In order to the state of automobile is accurately determined according to new cars stop, as one kind
Preferred embodiment, as shown in fig. 7, the static drift detection method that the present embodiment is provided also is wrapped in addition to the method shown in Fig. 2
Include：
S510：If the angle of stop angle judges angle less than default drift, the new stop of automobile is reacquired
Whether information, the angle for rejudging stop angle judge angle less than default drift.
When the angle of stop angle judges angle less than default drift, illustrate that the automobile is likely to be at low-angle slow
Fast driving states (as low-angle is turned).
S520：The angle of accumulative stop angle judges the occurrence number of angle less than default drift.
S530：If occurrence number is more than or equal to predetermined occurrence number, it is determined that automobile is in transport condition, and goes out occurrence
The corresponding parking of automobile point of number difference is invalid.
When the angle of stop angle judges angle less than default drift, automobile there may be static drift, or automobile
Ease turn in very low-angle, now by the new stop information of reacquisition automobile, repetition judges that stop is pressed from both sides
Whether the angle at angle judges angle less than default drift.The angle of accumulative stop angle judges going out for angle less than default drift
Occurrence number, when occurrence number is more than or equal to predetermined occurrence number, determines automobile in transport condition, so that it is determined that automobile stops
Car point is invalid.When less than default drift, the angle of accumulative stop angle judges that the occurrence number of angle makes a reservation for occurrence less than this
During number, illustrate that automobile is not travelled, now can determine that the corresponding parking of automobile point of occurrence number is static drift point.
Based on same inventive concept, the embodiment of the present application additionally provides the static drift detecting system of parking of automobile point, by
Static drift detection method in being the embodiment of the present application in the corresponding method of system, and the principle of the system solve problem with
Method is similar, therefore the enforcement of the system may refer to the enforcement of method, repeats part and repeats no more.
Accompanying drawing 8 is referred to, as shown in figure 8, embodiments providing a kind of static drift detection of parking of automobile point
System, detecting system include：
First acquisition module 801, for when it is determined that automobile is in dead ship condition, multiple automobiles of pre-acquiring in chronological order
Stop information, the stop information of multiple automobiles is added in parking point list, wherein, in stop information include vapour
The position coordinateses of car stop, speed and obtain the time；
First determining module 802, according to the stop information in parking point list, determining that the logic of automobile is stopped
Heart point and the logic Parking range around logic parking central point；
Second acquisition module 803, for reacquiring the new stop information of automobile, includes live steam in new stop information
The position coordinateses of car stop, speed and obtain the time；
First judge module 804, for position coordinateses and speed according to new cars stop, judges whether that new cars stop
Car point is located in logic Parking range and speed judges speed less than or equal to preset travel；
Module 805 is built, if for new cars stop is in logic Parking range and speed is less than or equal to default
When traveling judges speed, connect new cars stop and the upper two last parking of automobile points of acquisition time in parking point list,
Stop angle is constituted, wherein, stop angle is so that a time upper last parking of automobile point is obtained in point list of stopping
For the angle on summit；
Second judge module 806, for judging the angle of stop angle whether more than or equal to default drift judgement angle
Degree, if the angle of stop angle judges angle more than or equal to default drift, it is determined that new cars stop is static drift
Point.
Preferably, as shown in figure 9, system also includes：
3rd judge module 807, for judging that new cars stop goes up last one with the acquisition time in parking point list
Whether the acquisition time interval of individual parking of automobile point is spaced less than or equal to predetermined minimum time,
Second determining module 808, if be spaced less than or equal to predetermined minimum time for acquisition time interval, determines vapour
Car is in transport condition, and new cars stop is invalid；
4th judge module 809, if between the acquisition time for new cars stop and a last parking of automobile point
When being spaced more than predetermined minimum time, judge the position coordinateses of new cars stop whether with a last parking of automobile point
Position coordinateses it is identical；
3rd determining module 810, if for position coordinateses it is identical when, determine automobile in dead ship condition, by new stop
Information is added into parking point list；
First judge module 804, if specifically for position coordinateses it is different when, execution judges whether new cars stop
In logic Parking range and the step of speed judges speed less than or equal to preset travel.
Preferably, as shown in Figure 10, system also includes：
4th determining module 811, if exceed logic Parking range for new cars stop, or speed is more than preset travel
When judging speed, automobile is determined in transport condition, new cars stop is invalid；
5th judge module 812, if for new cars stop is in logic Parking range and speed is less than or equal to
When preset travel judges speed, judge whether the speed of new cars stop is less than or equal to default stop judgement speed and new
Parking of automobile point is located at default stop in the range of judgement；
5th determining module 813, if for new cars stop speed less than or equal to it is default stop judge speed and
When new cars stop is located in the range of default stop judgement, determine that automobile, in dead ship condition, new stop information is added
To in parking point list, wherein, to preset judgement speed is stopped less than preset travel judgement speed, the default judgement scope that stops is less than
Logic Parking range；
The structure module 805, if judging speed or new more than default stop specifically for the speed of new cars stop
Parking of automobile point judges scope beyond default stop, then obtain the time most in execution connection new cars stop and parking point list
The step of two parking of automobile points afterwards, composition stop angle.
Preferably, as shown in figure 11, system also includes：
Computing module 814, in stopping for the position coordinateses of all parking of automobile points in calculated target point list and logic
The spacing variance of the position coordinateses of heart point；
Removing module 815, for deleting in the middle of parking point list away from variance more than or equal to the parking for presetting variance threshold values
Point information, using the position coordinateses of remaining parking of automobile point in parking point list calculate automobile new logic parking central point and
Around the new logic Parking range of new logic parking central point；
Replacement module 816, for replacing original logic parking central point using new logic parking central point, and uses
New logic Parking range replaces original logic Parking range.
Preferably, as shown in figure 12, system also includes：
3rd acquisition module 817, if judge angle less than default drift for the angle of stop angle, reacquires
The new stop information of automobile；
6th judge module 818, for whether rejudging the angle of stop angle less than default drift judgement angle；
Accumulation module 819, judges the occurrence number of angle for adding up the angle of stop angle less than default drift, if
Occurrence number is more than or equal to predetermined occurrence number, it is determined that automobile is in transport condition, and occurrence number distinguishes corresponding vapour
Car stop is invalid.
Preferably, as shown in figure 13, the first determining module 802, including：
First determination sub-module 8021, for the position coordinateses according to parking of automobile point, it is determined that in parking point list each
The normal distribution of parking of automobile point position；
Second determination sub-module 8022 is big for the probability density according to the position coordinateses of parking of automobile point in normal distribution
It is little, determine the logic parking central point of automobile；
3rd determination sub-module 8023 is big for the probability density according to the position coordinateses of parking of automobile point in normal distribution
Little and logic parking central point, determines logic Parking range.
Those skilled in the art should be understood that embodiments of the invention can be provided as method, device or computer journey
Sequence product.Therefore, the present invention can be using complete hardware embodiment, complete software embodiment or with reference to the reality in terms of software and hardware
Apply the form of example.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment was stressed is the difference with other embodiments.
Invention described above embodiment, does not constitute limiting the scope of the present invention.It is any in the present invention
Spirit and principle within modification, equivalent and the improvement made etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of static drift detection method of parking of automobile point, it is characterised in that the detection method includes：
When it is determined that automobile is in dead ship condition, the stop information of the multiple automobiles of pre-acquiring in chronological order will be described
The stop information of multiple automobiles is added in parking point list, wherein, parking of automobile point is included in the stop information
Position coordinateses, speed and acquisition time；
According to the stop information in the parking point list, the logic parking central point of the automobile is determined and around described
The logic Parking range of logic parking central point；
The new stop information of the automobile is reacquired, the position comprising new cars stop is sat in the new stop information
Mark, speed and acquisition time；
According to the position coordinateses and speed of the new cars stop, judge whether that the new cars stop is located at the logic
Parking range is interior and speed judges speed less than or equal to preset travel；
If the new cars stop is located in the logic Parking range and speed judges speed less than or equal to preset travel,
Then connect the new cars stop and the upper two last parking of automobile points of acquisition time in parking point list, constitute stop
Angle, wherein, the stop angle is to be so that a time upper last parking of automobile point is obtained in the parking point list
The angle on summit；
Judge whether the angle of the stop angle judges angle more than or equal to default drift, if the stop angle
Angle judges angle more than or equal to default drift, it is determined that the new cars stop is static drift point.
2. static drift detection method according to claim 1, it is characterised in that judging whether that the new cars stop
Before point is located in the logic Parking range and speed judges speed less than or equal to preset travel, methods described also includes：
Obtaining for a time upper last parking of automobile point is obtained in judging the new cars stop and the parking point list
Take whether time interval is spaced less than or equal to predetermined minimum time, if, it is determined that the automobile is in transport condition, described
New cars stop is invalid；
If the new cars stop is more than default minimum with the acquisition time interval of a last parking of automobile point
Between be spaced, then judge the position coordinateses of the new cars stop whether with last parking of automobile point position seat
Mark is identical；
If the position coordinateses are identical, it is determined that the automobile is in dead ship condition, and the new stop information is added to institute
State in parking point list；
If the position coordinateses are different, perform it is described judge whether the new cars stop be located at logic Parking range it is interior and
The step of speed judges speed less than or equal to preset travel.
3. static drift detection method according to claim 1, it is characterised in that judging whether that the new cars stop
Point is in the logic Parking range and less than or equal to preset travel, speed judges that methods described also includes after speed：
If the new cars stop exceeds the logic Parking range or speed judges speed more than preset travel, it is determined that
The automobile is in transport condition, and the new cars stop is invalid；
If the new cars stop be located at the logic Parking range in, and speed less than or equal to preset travel judge car
Speed, then judge whether the speed of the new cars stop is less than or equal to default stop judgement speed and the new cars stop
Car point is located at default stop in the range of judgement；
If the speed of the new cars stop judges speed less than or equal to default stop and the new cars stop is located at
It is default to stop in the range of judgement, it is determined that the automobile is in dead ship condition, the new stop information is added to into described stopping
In car point list, wherein, the default stop judges that speed judges speed less than the preset travel, and default the stop judges
Scope is less than the logic Parking range；
If more than default the stop, the speed of the new cars stop judges that speed or the new cars stop exceed institute
State default stop and judge scope, then time last two are obtained in performing the connection new cars stop and parking point list
The step of parking of automobile point, composition stop angle.
4. static drift detection method according to claim 1, it is characterised in that when it is determined that the new cars stop is
During static drift point, methods described also includes：
The position for calculating the position coordinateses and the logic parking central point of all parking of automobile points in the parking point list is sat
Target spacing variance；
Delete in the middle of the parking point list away from variance more than or equal to the stop information of default variance threshold values, stopped according to described
In car point list, the position coordinateses of remaining parking of automobile point calculate the new logic parking central point of the automobile and around described
The new logic Parking range of new logic parking central point；
Original logic parking central point is replaced using the new logic parking central point, and uses the new logic parking model
Enclose the original logic Parking range of replacement.
5. static drift detection method according to claim 1, it is characterised in that methods described also includes：
If the angle of the stop angle judges angle less than default drift, the new stop letter of the automobile is reacquired
Whether breath, the angle for rejudging the stop angle judge angle less than default drift；
The angle of accumulative stop angle judges the occurrence number of angle less than default drift, if the occurrence number is more than or waits
In predetermined occurrence number, it is determined that the automobile is in transport condition, and the occurrence number distinguishes corresponding parking of automobile point
It is invalid.
6. static drift detection method according to claim 1, it is characterised in that stopping in the point list according to parking
Car point information, determines the logic parking central point and the logic parking model around the logic parking central point of the automobile
Enclose, including：
According to the position coordinateses of parking of automobile point, the normal state minute of each parking of automobile point position in the parking point list is determined
Cloth；
According to the probability density size of the position coordinateses of parking of automobile point in the normal distribution, determine that the logic of the automobile is stopped
Car central point；
According to the probability density size of the position coordinateses of parking of automobile point in the normal distribution and the logic parking center
Point, determines the logic Parking range.
7. a kind of static drift detecting system of parking of automobile point, it is characterised in that the detecting system includes：
First acquisition module, for when it is determined that automobile is in dead ship condition, pre-acquiring multiple automobiles in chronological order
Stop information, the stop information of the plurality of automobile is added in parking point list, wherein, in the stop information
Position coordinateses comprising parking of automobile point, speed and acquisition time；
First determining module, for according to the stop information in the parking point list, determining that the logic of the automobile is stopped
Central point and the logic Parking range around the logic parking central point；
Second acquisition module, for reacquiring the new stop information of the automobile, comprising new in the new stop information
The position coordinateses of parking of automobile point, speed and obtain the time；
First judge module, for position coordinateses and speed according to the new cars stop, judges whether the new cars
Stop is located in the logic Parking range and speed judges speed less than or equal to preset travel；
Module is built, if for the new cars stop is in the logic Parking range and speed is less than or equal to default
When traveling judges speed, connect the new cars stop with the upper two last parking of automobile of acquisition time in parking point list
Point, constitutes stop angle, wherein, the stop angle is so that last on the time one is obtained in the parking point list
Angle of the parking of automobile point for summit；
Second judge module, for whether judging the angle of the stop angle more than or equal to default drift judgement angle,
If the angle of the stop angle judges angle more than or equal to default drift, it is determined that the new cars stop is static state
Shift point.
8. static drift detecting system according to claim 7, it is characterised in that the system also includes：
3rd judge module, for judging that the new cars stop goes up last one with the acquisition time in the parking point list
Whether the acquisition time interval of individual parking of automobile point is spaced less than or equal to predetermined minimum time；
Second determining module, if be spaced less than or equal to predetermined minimum time for the acquisition time interval, it is determined that described
Automobile is in transport condition, and the new cars stop is invalid；
4th judge module, if between the acquisition time for the new cars stop and a last parking of automobile point
When being spaced more than predetermined minimum time, judge the position coordinateses of the new cars stop whether with a last vapour
The position coordinateses of car stop are identical；
3rd determining module, if for the position coordinateses it is identical when, determine that the automobile in dead ship condition, newly stops described
Car point information is added into the parking point list；
First judge module, if specifically for the position coordinateses it is different when, perform and described judge whether new cars parking
Point is in logic Parking range and the step of speed judges speed less than or equal to preset travel.
9. static drift detecting system according to claim 7, it is characterised in that the system also includes：
Computing module, for calculating during the position coordinateses of all parking of automobile points and the logic stop in the parking point list
The spacing variance of the position coordinateses of heart point；
Removing module, believes for deleting the stop in the middle of the parking point list away from variance more than or equal to default variance threshold values
Breath, calculates the new logic parking central point of the automobile according to the position coordinateses of remaining parking of automobile point in the parking point list
And around the new logic Parking range of the new logic parking central point；
Replacement module, for replacing original logic parking central point using the new logic parking central point, and uses institute
State new logic Parking range and replace original logic Parking range.
10. static drift detecting system according to claim 7, it is characterised in that the system also includes：
3rd acquisition module, if judge angle less than default drift for the angle of the stop angle, reacquires institute
State the new stop information of automobile；
6th judge module, for whether rejudging the angle of the stop angle less than default drift judgement angle；
Accumulation module, judges the occurrence number of angle for adding up the angle of stop angle less than default drift, if it is described go out
Occurrence number is more than or equal to predetermined occurrence number, it is determined that the automobile is in transport condition, and the occurrence number is right respectively
The parking of automobile point answered is invalid.
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