CN106530834B - A kind of vehicle behavior management system and management method - Google Patents
A kind of vehicle behavior management system and management method Download PDFInfo
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- CN106530834B CN106530834B CN201611247713.3A CN201611247713A CN106530834B CN 106530834 B CN106530834 B CN 106530834B CN 201611247713 A CN201611247713 A CN 201611247713A CN 106530834 B CN106530834 B CN 106530834B
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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
- G08G1/164—Centralised systems, e.g. external to vehicles
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
Abstract
The present invention relates to vehicle networking technical fields, and in particular to a kind of vehicle behavior management system and management method, management system include vehicle management platform and the car-mounted terminal that is set on vehicle to be managed；Car-mounted terminal specifically includes that station acquisition correction module, main control module, anticollision module, middle control interactive module；Vehicle management platform specifically includes that vehicle virtual display module and navigation alarm module；Vehicle management platform remotely receives the information of vehicles of car-mounted terminal acquisition, and real-time display vehicle movement track and status information, real-time three-dimensional model vehicle driving scene on the three-dimension GIS map of scheduling large-size screen monitors after progress operation；The optimum way of driving task is completed in hazard recognition source simultaneously, planning, and sends it back to vehicle termination.By using system and method for the present invention, vehicle drive behavior whole process intelligent management can be realized, improve safety and vehicle driving and dispatching efficiency, effectively avoid the generation of various accidents.
Description
Technical field
The present invention relates to vehicle networking technical fields, and in particular to a kind of vehicle behavior management system and management method.
Background technique
Vehicle arrangement has become the indispensable life of the mankind and the tool of production, but structure is complicated, itself and maintenance price
It is universal expensive, once there is artificial or contingency and equipment fault, it is more likely that bring huge economic loss and safety hidden
Suffer from；On the other hand, since vehicle driving must have its precondition, the natures such as road conditions, weather, traffic control or artificial origin's meeting
Largely effect on vehicle driving efficiency；Meanwhile the driving behavior and habit of vehicle driver, its operation conditions of vehicle arrangement and performance
The whole service performance and safety coefficient of vehicle will be directly related to.Therefore, the behavior management content of vehicle is complicated, concern
It is more, only using modern tools and means such as Beidou, Internet of Things, big data analysis, 4G communications, be possible to realize vehicle essence
Change, standardization, safe management requirement.
Summary of the invention
Aiming at the shortcomings existing in the above problems, the present invention provides a kind of vehicle behavior management system and manager
Method.
To achieve the above object, the present invention provides a kind of vehicle behavior management system, comprising:
Vehicle management platform and the car-mounted terminal being set on vehicle to be managed, the two are connected to the network by 4G；
The car-mounted terminal includes:
Station acquisition correction module, for acquiring and correcting latitude, longitude and sea in the vehicle position data to be managed
Pull out information；
Athletic posture detection module: for detecting vehicle heading and posture；
Anticollision module, for receiving and handling barrier data；
Middle control interactive module, the control instruction for sending main control module are transmitted to vehicle-mounted central control system and receive
Instruction feedback, while connecting car running computer acquisition vehicle-state real time data；
The main control module, for receiving the station acquisition correction module, the athletic posture detection module, described
The data of anticollision module and the middle control interactive module simultaneously handle integration；
Voice and video intercommunication module, the voice and video intercommunication for the vehicle driver to be managed and control centre；
4G data communication module, the data for integrating the main control module are sent to remote server or remotely connect
Control and alarm command are received, the voice and video intercommunication information that the voice and video intercommunication module is sent simultaneously bi-directionally is transmitted；
The vehicle management platform includes:
4G information of vehicles transceiver module receives the accurate of the car-mounted terminal transmission for communicating with the car-mounted terminal
Location information, vehicle-posture information, peripheral obstacle information, vehicle arrangement information and driving behavior record；
Vehicle virtual display module, information for receiving the 4G information of vehicles transceiver module carry out after operation
Real-time display vehicle position, movement track and car status information, real-time three-dimensional on the three-dimension GIS map of large-size screen monitors is dispatched to build
Mould vehicle driving posture and peripheral obstacle situation；
Navigation alarm module, for passing through comprehensive assessment vehicle status data, vehicle drive behavioral data, surrounding obstacles number
Rational routes are provided according to, preset task and destination, preset map datum, real-time road, meteorological data and control traffic message
Selection and danger sources information.
In above-mentioned vehicle behavior management system, preferably, the car-mounted terminal further include:
Beidou positioning module, for receiving the vehicle position information of Beidou satellite system transmission；
Vehicle radio station, for receiving range error data, which carries out difference with to position error, obtains relatively accurate
Position；
Vehicle-mounted gyroscope, for exporting the pitching of car body, roll angle, the attitude angle datas such as course angle；
Vehicle-mounted accelerometer, for exporting car body 3D linear acceleration data, the 3D linear acceleration data will be described opposite
Accurate location carries out position vector fine tuning and the correction of vehicle attitude angle；
Vehicle mounted electric sweeps phased array radar: phased array antenna technique is adjusted using integrated electricity, for scanning, producing and filtering obstacle
Object information.
In above-mentioned vehicle behavior management system, preferably, the car-mounted terminal further include:
Electric power detection module, for detecting the current residual electricity of the car-mounted terminal battery, data being transmitted to the master
Control module；
Charge management module, for charging the battery management, data being transmitted to the master in external plant-grid connection
Control module；
Shock sensor, for detecting vehicle vibration threshold；
Mode control module generates pattern switching information and issues main control module for handling shock sensor data；
Car-mounted display module, for receiving the display information of the main control module and voice and video scheduler module；
In above-mentioned vehicle behavior management system, preferably, the car-mounted terminal further include:
Vehicle-carrying display screen: for showing vehicle preferred routes, mission bit stream and various danger sources informations, it is also used to voice view
Frequency intercommunication；
Vehicle-mounted anti-noise microphone, vehicle-mounted anti-noise loudspeaker and vehicle-mounted camera are used for speech talkback and Image Acquisition.
In above-mentioned vehicle behavior management system, preferably, 4G information of vehicles transceiver module further include:
Voice and video scheduler module, for carrying out the Real-Time Scheduling of voice and video to the vehicle to be managed；
History trace back block, for recording the driving trace of the vehicle to be managed and the vehicle location letter of each time point
Breath, device status information, vehicle drive behavioural information and ambient condition information；
Task arranges module, is used for preset vehicle carrier, destination, time route require information；
Vehicle data server, storage and reading for all module datas of vehicle management platform；
A kind of management method of vehicle behavior management system, comprising:
Obtain vehicle information data to be managed；
By the vehicle information data integration storage to be managed；
Data after integration are radioed into vehicle management platform；
Analysis is carried out to the data in previous step and realizes vehicle management.
In above-mentioned vehicle behavior management method, preferably, the acquisition vehicle information data to be managed includes:
(1) data for handling shock sensor, judge car-mounted terminal operational mode；
(2) from the current location data of Beidou positioning module acquisition terminal, including latitude, longitude and height above sea level；
(3) the range error data that difference is received from vehicle radio station, then carry out position arrow with the data of accelerometer
Amount fine tuning obtains accurate three-dimensional geographical location information, and range error data are sent by Beidou differential reference station, according to ephemeris, atmosphere
Refraction, earth rotation and relativistic effect equal error source calculate；
(4) data from accelerometer and gyroscope are handled, the angular speed and linear velocity of vehicle movement are obtained, upper one
It is integrated on the basis of the vehicle attitude at time point, judges vehicle current athletic posture and direction of travel；
(5) data that vehicle mounted electric sweeps phased array radar transmitting, mathematical modeling barrier are received, filtering interference obtains barrier
Position and size information；
(6) connection car running computer acquisition vehicle-state and driving behavior real time data.
(7) current residual electricity of end cell is detected, such as insufficient publication warning message；
(8) when checking whether there is external power supply access, when access, charges the battery management；
In above-mentioned vehicle behavior management method, preferably,
Main control module in car-mounted terminal handles the acquisition vehicle information data to be managed, then will processing
The Data Integration storage crossed, and it is sent to vehicle management platform, the data of transmission include exact position, driving posture, periphery barrier
Hinder object, vehicle-state and driving behavior data；
In above-mentioned vehicle behavior management system, preferably,
Vehicle driver and control centre can directly voice and video intercommunication；Vehicle termination and the transmitting of vehicle management platform
While other data, also bi-directional voice and video intercommunication data；
In above-mentioned vehicle behavior management system, preferably,
The data in previous step carry out analysis and realize that vehicle management includes:
(1) vehicle management platform parsed from the data that vehicle termination transmits precise location information, vehicle-posture information,
Peripheral obstacle information, car status information and driving behavior record；
(2) driving trace of record management vehicle and the vehicle position information of each time point, device status information, vehicle
Driving behavior information and ambient condition information are stored in vehicle data server；
(3) by information of vehicles carry out operation after scheduling large-size screen monitors three-dimension GIS map on real-time display vehicle position,
Movement track and car status information, real-time three-dimensional model vehicle driving posture and peripheral obstacle situation；
(4) by comprehensive assessment vehicle status data, vehicle drive behavioral data, surrounding obstacles data, preset task and
Destination, preset map datum, real-time road, meteorological data and all kinds of control traffic messages provide preferred routes and danger source is accused
Alert information；
(5) preset according to demand or adjustment vehicle carrier, destination, time route require information；
(6) Real-Time Scheduling of voice and video is carried out to vehicle driver, and receives the request of yelling for help of driver；
(7) all kinds of reports are automatically generated according to history trace back data and user demand, provides length further according to big data analysis
The prompt of phase Risk-warning；
(8) preferred routes and danger source warning information, vehicle mission bit stream and the integration of long-term risk early warning are sent to
Car-mounted terminal；
(9) car-mounted terminal shows the information received on vehicle-carrying display screen, to driver to instruct to prompt；
(10) danger is carried out using the interaction with vehicle central control system to evade.
In the above-mentioned technical solutions, the invention has the following advantages that
1, the present invention realizes the whole intelligent management to vehicle drive behavior, improves safety and vehicle driving and tune
Spend efficiency, effectively avoid include collide etc. various accidents generation.
2, the present invention determines vehicle using Beidou positioning and differential technique and accelerometer vector correction in car-mounted terminal
Exact position；Vehicle status data is acquired using vehicle-mounted OBD interface；Phased array radar scanning filtering barrier is swept using vehicle mounted electric to believe
Breath；Vehicle attitude is judged using accelerometer and gyroscope；Danger is carried out using the interaction with vehicle control system to evade；It utilizes
Vehicle-carrying display screen shows mission bit stream, executes task optimal route and all kinds of early warnings；It also provides two-way with control centre
Voice and video dispatches intercommunication function.All vehicle data information pass remote side administration platform back by 4G private network or public network, by melting
Conjunction technology of Internet of things, car networking technology realize the beneficial trial to vehicle behavior intelligent control mode.
3, vehicle row is virtually presented in scheduling large-size screen monitors using three-dimensional modeling emulation technology in vehicle management platform side in the present invention
Sail track, scene and real-time vehicle instrument board；Pass through the preset task of assessment vehicle and destination, preset map datum, real-time road
Condition, meteorological data and all kinds of control traffic messages provide optimal route selection；By analyzing vehicle status data, vehicle drive row
All kinds of prompt alarm information are provided for data, surrounding obstacles data, GIS map data, real-time road, meteorological data；Dispatch people
Member arranges as needed or adjustment vehicle task, and implements voice and video scheduling；Long-term warning function, statistical analysis are provided simultaneously
Function, auto report feature and land parcel change trace function.All optimal routes, control, scheduling and alarm data information are special by 4G
Net or public network pass car-mounted terminal back, remotely manage mould to Vehicular intelligent by big data analysis technology, virtual reality technology realization
The beneficial trial of formula.
Detailed description of the invention
Fig. 1 is the structural block diagram of the vehicle behavior management system of the embodiment of the present invention 1；
Fig. 2 is the flow chart of the vehicle behavior management method of the embodiment of the present invention 2；
Fig. 3 is that the system of the embodiment of the present invention 2 obtains the flow chart of vehicle data.
Specific embodiment
The present invention is described in further detail below by specific embodiment combination attached drawing.
Embodiment 1:
Vehicle behavior management system, as shown in Figure 1, wherein car-mounted terminal is pacified comprising car-mounted terminal and vehicle management platform
Loaded on vehicle to be managed, vehicle management platform is located at distal end control centre, the 4G data communication module and vehicle of car-mounted terminal
The 4G information of vehicles transceiver module of management platform is interconnected by 4G public network or private network.
In car-mounted terminal, main control module and station acquisition correction module, athletic posture detection module, anticollision mould
Block, electric power detection module, charge management module, mode control module, middle control interactive module, car-mounted display module connection communication；
Station acquisition correction module and Beidou positioning module, vehicle radio station and accelerometer connection communication, Beidou positioning module wirelessly connect
Receive the geographical location information that Beidou satellite alignment system is sent, the ranging that vehicle radio station wireless receiving Beidou differential reference station is sent
Error information；Athletic posture detection module and accelerometer, vehicle-mounted gyroscope connection communication；Anticollision module sweeps phase with vehicle mounted electric
Radar connection communication is controlled, vehicle mounted electric sweeps phased array radar and adjusts phased-array antenna scanning vehicle-periphery using integrated electricity, collects
Barrier size and bearing data；Electric power detection module, charge management module and battery connection communication；Mode control module and shake
Dynamic sensor connection communication；Middle control interactive module obtains the travelling data of vehicle-mounted computer by vehicle OBD interface, with vehicle-mounted central
Control system connection communication, publication control command and reception order feedback；Car-mounted display module and Vehicular display device and voice regard
Frequency intercommunication module connection communication；Voice and video intercommunication module and vehicle-mounted anti-noise microphone, vehicle-mounted anti-noise loudspeaker and vehicle-mounted camera
Connection communication；Main control module and voice and video intercommunication module pass through 4G data communication module and extraneous connection communication.
In vehicle management, vehicle virtual display module, voice and video scheduler module, history trace back block, task arrangement
Module, optimal route alarm module and statistical analysis module pass through the external communication of 4G information of vehicles transceiver module；Vehicle virtual exhibition
Show module, voice and video scheduler module, history trace back block, task arrangement module, optimal route alarm module and statistical analysis
Module carries out data storage and reading to vehicle data server, on the displaying information projection to scheduling large-size screen monitors of all modules.
Embodiment 2
The management method of vehicle behavior management system, as Figure 2-3, comprising the following steps:
Step 101: obtaining vehicle information data to be managed；
Step 102: by the vehicle information data integration storage to be managed；
Step 103: the data after integration radio to vehicle management platform；
Step 104: analysis being carried out to the data in previous step and realizes vehicle management.
As shown in figure 3, including: in a step 101
(1) data for handling shock sensor, judge whether vehicle starts, and inactive car-mounted terminal enters suspend mode,
New data is not acquired, vehicle launch is waited, otherwise enters operational mode, into next step；
(2) Beidou positioning module acquires the terminal of Beidou satellite system transmitting, including latitude, longitude and height above sea level；
(3) the range error data that vehicle radio station is transmitted and received from Beidou differential reference station, range error data according to
Ephemeris, atmospheric refraction, earth rotation and relativistic effect equal error source calculate, including RTCM2.3, RTCM3.0,
Beidou location data and range error data are carried out difference by RTCM3.2, CMR, CMR+, then with the data of accelerometer into
Row vector correction obtains error precision in 50 centimetres of three-dimension GIS geographical location information；
(4) it from the angular speed of gyroscope acquisition vehicle movement, is moved in all directions from accelerometer acquisition vehicle
Linear velocity, angular speed and linear velocity were integrated on the basis of the direction of traffic at a upper time point and posture mathematical modeling, were sought
Vehicle current new athletic posture and direction of travel；
(5) data that vehicle mounted electric sweeps phased array radar transmitting, mathematical modeling barrier are received, filtering interference obtains barrier
Position and size information；
(6) car OBD interface is connected, every driving behavior data and vehicle status data in vehicle-mounted computer are obtained.
(7) current residual electricity of end cell is detected, such as not enough power supply issues acousto-optic warning message to driver；
(8) it when checking whether there is external power supply access, if any access, charges to car-mounted terminal battery；
In a step 102, the main control module in car-mounted terminal obtains described at vehicle information data to be managed
Reason, then stores processed Data Integration；
In step 103, convert 4G data format for the data after integration, by public's operation network of 4G or enterprise from
It builds private network and is sent to vehicle management platform, the data of transmission include exact position, driving posture, periphery barrier, vehicle-state
With driving behavior data；
The frequency range of the self-built private network of enterprise is preferably 1447-1467MHz and 1785-1805MHz；
Vehicle driver and control centre can directly voice and video intercommunication；Vehicle termination and the transmitting of vehicle management platform
While other data, also bi-directional voice and video intercommunication data；
Include: at step 104
The data in previous step carry out analysis and realize that vehicle management includes:
(1) vehicle management platform parsed from the data that vehicle termination transmits precise location information, vehicle-posture information,
Peripheral obstacle information, car status information and driving behavior record；
(2) driving trace of record management vehicle and the vehicle position information of each time point, device status information, vehicle
Driving behavior information and ambient condition information are stored in vehicle data server；
(3) scheduling large-size screen monitors on position vehicle, show vehicle driving trace in real time, and when express fact by fiction instrument board form
It shows the various status informations of vehicle, solid modelling vehicle driving posture and surrounding obstacles situation, constructs virtual driving scene；
(4) comprehensive assessment vehicle position, preset task and destination, three-dimension GIS map datum, real-time road, gas
Image data and all kinds of control traffic messages provide optimal route selection；
(5) big data analysis vehicle status data, vehicle drive behavioral data, surrounding obstacles data, map datum, in real time
Road conditions, meteorological data and all kinds of control traffic messages carry out big data analysis and vehicle behavior emulation, generate all kinds of prompt alarms
Information is shown on scheduling large-size screen monitors；
(6) dispatcher is preset according to demand or adjusts vehicle carrier, destination, time route require information；
(7) dispatcher carries out the Real-Time Scheduling of voice and video to vehicle driver according to demand, and receives driver's
It yells for help request；
(8) all kinds of reports are automatically generated according to history trace back data and user demand, provides length further according to big data analysis
The prompt of phase Risk-warning, the early warning are also shown on scheduling large-size screen monitors；
(9) vehicle management platform is by preferred routes and danger source warning information, vehicle mission bit stream and long-term risk early warning
Prompt integration is converted to 4G data format and is sent to vehicle termination；
(10) car-mounted terminal shows the information received on vehicle-carrying display screen, with sound and image mode to driver
To instruct prompt；
(11) driver carries out danger using the interaction with vehicle central control system and evades according to prompt.
Embodiment 3:
The specific steps of system acquisition vehicle exact position:
(1) from Beidou satellite system receive current vehicle position data (longitude X1, latitude Y1, height above sea level Z1) and it is current when
Between T1；
(2) receive that Beidou differential reference station sends forms because of ephemeris, atmospheric refraction, earth rotation and relativistic effect
Range error data (RTCM2.3, RTCM3.0, RTCM3.2, CMR, CMR+), COMPREHENSIVE CALCULATING obtains Δ ρx, Δ ρy, Δ ρz；
(3) acceleration value (D is read from accelerometerx,Dy,Dz)；
(4) last record position (X is read from memory0,Y0,Z0) and last record time T0；
(5) last record vector velocity (V is read from memory0x,V0y,V0z), time difference Δ t=T1–T0；
(6) vector instantaneous velocity (Vx,Vy,Vz)=((V0x+Dx*Δt)*Δt,(V0y+Dy*Δt)*Δt,(V0z+Dz*Δ
t)*Δt)；
(7) precision vector position (X, Y, Z)=(((X1–Δρx)2+(X0+Vx*Δt)2)1/2,((Y1–Δρy)2+(Y0+Vx*
Δt)2)1/2,((Z1–Δρz)2+(Z0+Vz*Δt)2)1/2)；
(8) precision vector position (X, Y, Z), new instantaneous velocity (V are storedx,Vy,Vz) and time T1；
Embodiment 4:
Specific step is as follows for the processing of collision information warning for system:
(1) security sweep range is preset；
(2) change integrated electricity and adjust the phase of phased-array antenna input current to realize the adjustable observed direction of dynamic, vehicle
It carries electricity and sweeps the phased size by change antenna input current to realize the adjustable observation scope of dynamic；
(3) obstacle distance R is solved using the frequency difference that CW with frequency modulation irradiates barrier in the visual field and measures echo；
(4) it irradiates barrier in the visual field using phase modulating continuous wave and measures echo continuous time t, scanning speed is angle
Speed pv, according to hindering object distance and echo continuous time to solve barrier width:
L=R*pv*t/2Л；
(5) interference and not dangerous object Limit Width are set as Lmax, L > LmaxIt is determined as effective barrier；
(6) barrier observation information sends back to vehicle management platform, emulates barrier track according to historical data base and to vehicle
Relative acceleration a, if barrier track and vehicle program track are not overlapped or relative acceleration a is negative value, no collision can
Can, otherwise the warning message that collides, which includes barrier size, distance, relative acceleration, collision probability, it is contemplated that is touched
Hit track emulation；
(7) collision warning information is shown in concurrent carriage return mounted terminal on scheduling large-size screen monitors, dispatcher the situation is critical can be to vehicle
Directly issue voice and video dispatch command；
(8) in car-mounted terminal display alarm information to vehicle-carrying display screen, so according to danger level provide mutually at the sound, light,
Video alert information in emergency circumstances can issue brake instruction to automobile central control system；
(9) car-mounted terminal acquires driver's driving behavior data by vehicle-mounted computer, and it is flat which sends back to vehicle management
Platform, after budget emulation collisionless is dangerous, information warning is released.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of vehicle behavior management system characterized by comprising
Vehicle management platform and the car-mounted terminal being set on vehicle to be managed, the two are connected to the network by 4G；
The car-mounted terminal includes:
Station acquisition correction module, for acquiring and correcting latitude, longitude and height above sea level letter in the vehicle position data to be managed
Breath；
Athletic posture detection module: for detecting vehicle heading and posture；
Anticollision module, for receiving and handling barrier data；
Middle control interactive module, the control instruction for sending main control module are transmitted to vehicle-mounted central control system and receive instruction
Feedback, while connecting car running computer acquisition vehicle-state real time data；
The main control module, for receiving the station acquisition correction module, the athletic posture detection module, the anti-collision
It hits the data of module and the middle control interactive module and handles integration；
Voice and video intercommunication module, the voice and video intercommunication for the vehicle driver to be managed and control centre；
4G data communication module, the data for integrating the main control module are sent to remote server or long-range receive is controlled
System and alarm command simultaneously bi-directionally transmit the voice and video intercommunication information that the voice and video intercommunication module is sent；
Beidou positioning module, for receiving the vehicle position information of Beidou satellite system transmission；
Vehicle radio station, for receiving range error data, which carries out difference with to position error, obtains relatively accurate position
It sets；
Vehicle-mounted gyroscope, for exporting the pitching of car body, roll angle, the attitude angle datas such as course angle；
Vehicle-mounted accelerometer, for exporting car body 3D linear acceleration data, the 3D linear acceleration data will be described relatively accurate
Position carries out position vector fine tuning and the correction of vehicle attitude angle；
Vehicle mounted electric sweeps phased array radar: phased array antenna technique is adjusted using integrated electricity, for scanning, producing and filtering barrier letter
Breath；
The vehicle management platform includes:
4G information of vehicles transceiver module receives the accurate positioning that the car-mounted terminal is sent for communicating with the car-mounted terminal
Information, vehicle-posture information, peripheral obstacle information, vehicle arrangement information and driving behavior record；
Vehicle virtual display module, the information for receiving the 4G information of vehicles transceiver module are being dispatched after carrying out operation
Real-time display vehicle position, movement track and car status information on the three-dimension GIS map of large-size screen monitors, real-time three-dimensional model vehicle
Driving posture and peripheral obstacle situation；
Navigation alarm module, for by comprehensive assessment vehicle status data, vehicle drive behavioral data, surrounding obstacles data,
Preset task and destination, preset map datum, real-time road, meteorological data and control traffic message provide rational routes selection
And danger sources information；
Wherein, system obtains the specific steps of vehicle exact position:
(1) current vehicle position data and current time T1 are received from Beidou satellite system, wherein current vehicle position data are
(X1, Y1, Z1), X1, Y1, Z1 are respectively longitude, latitude, height above sea level；
(2) ranging formed by ephemeris, atmospheric refraction, earth rotation and relativistic effect that Beidou differential reference station is sent is received
Error information, COMPREHENSIVE CALCULATING obtain error amount Δ ρx、ΔρyWith Δ ρz；
(3) acceleration value D is read from accelerometerx、DyAnd Dz；
(4) last record position X is read from memory0、Y0、Z0Time T is recorded with the last time0；
(5) last record vector velocity V is read from memory0x、V0y、V0zWith time difference Δ t=T1–T0；
(6) vector instantaneous velocity (Vx,Vy,Vz)=((V0x+Dx*Δt)*Δt,(V0y+Dy*Δt)*Δt,(V0z+Dz*Δt)*Δ
t)；
(7) precision vector position (X, Y, Z)=(((X1–Δρx)2+(X0+Vx*Δt)2)1/2,((Y1–Δρy)2+(Y0+Vx*Δt)2)1/2,
((Z1–Δρz)2+(Z0+Vz*Δt)2)1/2)；
(8) precision vector position (X, Y, Z), new instantaneous velocity (V are storedx,Vy,Vz) and time T1。
2. vehicle behavior management system according to claim 1, it is characterised in that: the car-mounted terminal further include:
Electric power detection module, for detecting the current residual electricity of the car-mounted terminal battery, data being transmitted to the main control
Module；
Charge management module, for charging the battery management, data being transmitted to the main control in external plant-grid connection
Module；
Shock sensor, for detecting vehicle vibration threshold；
Mode control module generates pattern switching information and issues main control module for handling shock sensor data；
Car-mounted display module, for receiving the display information of the main control module and voice and video scheduler module.
3. vehicle behavior management system according to claim 1, it is characterised in that: the car-mounted terminal further include:
Vehicle-carrying display screen: for showing vehicle preferred routes, mission bit stream and various danger sources informations, it is also used to voice and video pair
It says；
Vehicle-mounted anti-noise microphone, vehicle-mounted anti-noise loudspeaker and vehicle-mounted camera are used for speech talkback and Image Acquisition.
4. vehicle behavior management system according to claim 1, it is characterised in that: 4G vehicle management platform further include:
Voice and video scheduler module, for carrying out the Real-Time Scheduling of voice and video to the vehicle to be managed；
History trace back block, for record the driving trace of the vehicle to be managed and the vehicle position information of each time point,
Device status information, vehicle drive behavioural information and ambient condition information；
Task arranges module, is used for preset vehicle carrier, destination, time route require information；
Vehicle data server, storage and reading for all module datas of vehicle management platform.
5. a kind of management method of such as vehicle behavior management system according to claim 1-4, which is characterized in that
Include:
Obtain vehicle information data to be managed；
By the vehicle information data integration storage to be managed；
Data after integration are radioed into vehicle management platform；
Analysis is carried out to the data in previous step and realizes vehicle management.
6. the management method of vehicle behavior management system according to claim 5, which is characterized in that the acquisition is to be managed
Vehicle information data includes:
(1) data for handling shock sensor, judge car-mounted terminal operational mode；
(2) from the current location data of Beidou positioning module acquisition terminal, including latitude, longitude and height above sea level；
(3) then it is micro- to carry out position vector with the data of accelerometer for the range error data that difference is received from vehicle radio station
Tune obtains accurate three-dimensional geographical location information, and range error data are sent by Beidou differential reference station, is rolled over according to ephemeris, atmosphere
It penetrates, earth rotation and relativistic effect equal error source calculate；
(4) data from accelerometer and gyroscope are handled, the angular speed and linear velocity of vehicle movement were obtained, in the upper time
It is integrated on the basis of the vehicle attitude of point, judges vehicle current athletic posture and direction of travel；
(5) data that vehicle mounted electric sweeps phased array radar transmitting, mathematical modeling barrier are received, filtering interference obtains Obstacle Position
And size information；
(6) connection car running computer acquisition vehicle-state and driving behavior real time data；
(7) current residual electricity of end cell is detected, such as insufficient publication warning message；
(8) when checking whether there is external power supply access, when access, charges the battery management.
7. the management method of vehicle behavior management system according to claim 5, which is characterized in that
Main control module in car-mounted terminal handles the acquisition vehicle information data to be managed, then will be processed
Data Integration storage, and is sent to vehicle management platform, the data of transmission include exact position, driving posture, periphery barrier,
Vehicle-state and driving behavior data.
8. the management method of vehicle behavior management system according to claim 5, which is characterized in that
Vehicle driver and control centre can directly voice and video intercommunication；Vehicle termination and vehicle management platform transmit other
While data, also bi-directional voice and video intercommunication data.
9. the management method of vehicle behavior management system according to claim 5, which is characterized in that
The data in previous step carry out analysis and realize that vehicle management includes:
(1) vehicle management platform parses precise location information, vehicle-posture information, surrounding from the data that vehicle termination transmits
Obstacle information, car status information and driving behavior record；
(2) driving trace of record management vehicle and the vehicle position information of each time point, device status information, vehicle drive
Behavioural information and ambient condition information are stored in vehicle data server；
(3) by information of vehicles carry out operation after scheduling large-size screen monitors three-dimension GIS map on real-time display vehicle position, action
Track and car status information, real-time three-dimensional model vehicle driving posture and peripheral obstacle situation；
(4) pass through comprehensive assessment vehicle status data, vehicle drive behavioral data, surrounding obstacles data, preset task and purpose
Ground, preset map datum, real-time road, meteorological data and all kinds of control traffic messages provide preferred routes and danger source alarm letter
Breath；
(5) preset according to demand or adjustment vehicle carrier, destination, time route require information；
(6) Real-Time Scheduling of voice and video is carried out to vehicle driver, and receives the request of yelling for help of driver；
(7) all kinds of reports are automatically generated according to history trace back data and user demand, provides long-term wind further according to big data analysis
Dangerous early warning；
(8) preferred routes and danger source warning information, vehicle mission bit stream and the integration of long-term risk early warning are sent to vehicle-mounted
Terminal；
(9) car-mounted terminal shows the information received on vehicle-carrying display screen, instructs to prompt to driver；
(10) danger is carried out using the interaction with vehicle central control system to evade.
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