CN106568450A - Elevated road vehicle-mounted auxiliary navigation algorithm, and applications thereof - Google Patents
Elevated road vehicle-mounted auxiliary navigation algorithm, and applications thereof Download PDFInfo
- Publication number
- CN106568450A CN106568450A CN201610968256.0A CN201610968256A CN106568450A CN 106568450 A CN106568450 A CN 106568450A CN 201610968256 A CN201610968256 A CN 201610968256A CN 106568450 A CN106568450 A CN 106568450A
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- acceleration
- algorithm
- vehicle
- threshold value
- overpass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
Abstract
The invention discloses an elevated road vehicle-mounted auxiliary navigation algorithm, and applications thereof. The elevated road vehicle-mounted auxiliary navigation algorithm is characterized in that an acceleration sensor is used for collecting vehicle gravity direction real-time acceleration signal component; combination with a cartographic information system is adopted, and limited time window elevated road predicting algorithm is adopted. The elevated road predicting algorithm comprises following steps: 1, g direction acceleration component is collected; 2, dip angle conversion, and segmented timing are carried out; 3, elevated road predicting algorithm is adopted; 4, cartographic information matching is carried out, wherein if cartographic information matching is not realized, the processes return to step 1 for g direction acceleration component collection, and the steps from 1 to 4 are repeated, otherwise a next step is carried out; and 5, elevated road predicting and planning of a driving plane are carried out. Hardware implementation cost of the elevated road vehicle-mounted auxiliary navigation algorithm and applications thereof is low; navigation accuracy is increased; real-time route planning is convenient and rapid to realize; algorithm is simple; transportability is high; and the elevated road vehicle-mounted auxiliary navigation algorithm is suitable for portable equipment such as navigators, mobile phones, and PAD.
Description
Technical field
The present invention relates to vehicle mounted guidance field, more particularly to a kind of vehicle-mounted assisting navigation algorithm of overpass and application.
Background technology
Most vehicle mounted guidance adopts GPS navigation technology at present, and also part adopts Beidou navigation technology, and both are led
The principle of boat technology is all vehicle to be positioned by satellite-signal, is then compared so as to plan with cartographic information system
Navigation way.
In vehicle travel process, when ground as shown in Figure 1, overhead parallel road is run into, existing navigation algorithm
Effective identification of overhead or surface road cannot be carried out, it is necessary to judge that rail occurs in overhead and ground in cartographic information system
Mark just can be planned new route when diverging again.In actual applications, it is due to GPS or the trueness error of Beidou navigation, special
It is not the section concentrated at multiple overhead crossings, current navigation algorithm cannot carry out quick, effectively planning in real time, so as to lead
Cause vehicle mounted guidance frequently to plan again and stop over driving efficiency.
Overhead entrance figure as shown in Figure 1, if vehicle is in the process of moving by mistake due to surface road and overpass parallel
Upper overhead, due to the restriction of navigation accuracy, traditional navigation algorithm must could be weighed when overpass is diverged with surface road
Newly planned, if overhead diffluence pass or gateway are run in this travel period, navigation at this moment will be in failure state.
Therefore, in order to effectively improve navigation accuracy rate and avoid traffic congestion, one kind is needed accurately to judge overpass and ground
The method of road.
The content of the invention
The present invention seeks to：Solve present in prior art, to carry out effective identification of overhead or surface road, many
The section that individual overhead crossing is concentrated cannot carry out quick, the real-time effectively subject matter such as planning, accurately judge overpass
With surface road, effectively improve navigation accuracy rate and avoid traffic congestion.
The technical scheme is that：
A kind of vehicle-mounted assisting navigation algorithm of overpass, it is characterised in that：By acceleration transducer collection vehicle gravity
Direction real time acceleration component of signal, combining cartographic information system, using overpass anticipation algorithm in limit timing window, the height
The flow process of frame road anticipation algorithm is：
(1) collection of g directional accelerations component, measures the component of acceleration in gravity g directions using acceleration transducer；
(2) inclination angle conversion, Split Time, using the principle at acceleration analysis inclination angle, measure inclining in vehicle travel process
Angle α, while starting timing t when certain threshold value h is reached to acceleration signal, timing when acceleration signal is less than threshold value h terminates；Threshold
Value h can be to realize automatically adjusting according to surface conditions, and threshold value h occurs with a Vector Groups [h] in the algorithm.Vector Groups [h]
Initial value be made up of a large amount of empirical datas, it is necessary to a large amount of actual measurements for carrying out overhead road surface upstream and downstream can just be obtained；It is overhead pre-
Survey and judge that software algorithm, in running, is adjusted threshold value h according to the actual measureed value of acceleration data during actual travel, and
And the t being met under threshold value h；Wherein h=[h1, h2, h3..., hn], t=[t1, t2, t3...tn]；
(3) overhead anticipation algorithm, the core of the overhead anticipation algorithm are that the split time t met under h is carried out
Judge；Split time t is also a Vector Groups, and in decision process, t must arrange an empirical value first, and empirical value comes from a large number
Actual road conditions measured data, threshold value T=[T1, T2, T3...] is set using this empirical value then；When actual measurement meets threshold value h
When time data t is compared with threshold value T, under conditions of meeting threshold value T, that is, below equation is met
Judgement is overpass；
(4) match cartographic information, after being met the data inclination alpha of threshold value, time t according to actual measurement, by the data with
Cartographic information is matched, and is such as occurred overhead parallel road on cartographic information, is then judged to overpass entrance or outlet；Together
When, according to the positive negative information of inclination alpha, it is possible to determine that be overhead upstream or downstream；If mismatched with cartographic information, return again
Returning to the first step carries out gravity direction component of acceleration collection, repeats the algorithmic procedure of (1) to (4)；
(5) overpass judges and plans traveling scheme, and after overhead anticipation algorithm judges overpass success, algorithm will
Again real road planning is carried out to navigation programming.
Preferably, the principle at acceleration analysis inclination angle is utilized in step (2), the inclination alpha in vehicle travel process is measured
Formula be：
Wherein Ax=g sin α, Ax are X-direction components of acceleration, and Ay is Y direction acceleration direction, and Az adds for Z axis
Velocity attitude component, Axg represent acceleration of gravity durection component.
The application of the vehicle-mounted assisting navigation algorithm of a kind of overpass, using 3-axis acceleration sensor, using gravity direction
Acceleration and travel direction acceleration combination calculation vehicle gravity direction component of acceleration obtaining in vehicle travel process
Angled state.
Preferably, using two axle acceleration sensors, using the acceleration point of travel direction acceleration analysis gravity direction
Measure to obtain the angled state in vehicle travel process.
Advantages of the present invention：
1st, the vehicle-mounted assisting navigation algorithm of overpass of the present invention and application hardware cost of implementation are low.
2nd, the vehicle-mounted assisting navigation algorithm of overpass of the present invention and application improves navigation accuracy, convenient, fast
Carry out real-time path planning；
3rd, the vehicle-mounted assisting navigation algorithm of overpass of the present invention supports the navigation of the multisystems such as GPS, the Big Dipper, suitability
It is good, highly versatile.
4th, the vehicle-mounted assisting navigation algorithm of overpass of the present invention and, portable height simple using algorithm, are suitable for
In portable sets such as navigator, mobile phone, PAD.
Description of the drawings
Below in conjunction with the accompanying drawings and embodiment the invention will be further described：
Fig. 1 is overpass and surface road parallel inlet schematic diagram.
Fig. 2 is the steric acceleration schematic diagram of the vehicle-mounted assisting navigation algorithm of overpass of the present invention.
Fig. 3 is the flow chart of the vehicle-mounted assisting navigation algorithm of overpass of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings and preferred implementation is described in detail to technical solution of the present invention.
The invention discloses a kind of overpass vehicle mounted guidance algorithm and application, the application i.e. hardware are realized, lead to
Acceleration transducer collection vehicle gravity direction real time acceleration component of signal is crossed, combining cartographic information system has invented one kind
Overpass anticipation algorithm in limit timing window, it is possible to realized by hardware.
A kind of vehicle-mounted assisting navigation algorithm of overpass, it is characterised in that：By acceleration transducer collection vehicle gravity
Direction real time acceleration component of signal, combining cartographic information system, using overpass anticipation algorithm in limit timing window, the height
The flow process of frame road anticipation algorithm is：(1) component of acceleration in gravity g directions is measured using acceleration transducer；(2) utilize and add
The principle at tachometric survey inclination angle, measures the inclination alpha in vehicle travel process, while when reaching certain threshold value h to acceleration signal
Start timing t, timing when acceleration signal is less than threshold value h terminates；Threshold value h can be to realize automatically adjusting according to surface conditions,
Threshold value h occurs with a Vector Groups [h] in the algorithm.The initial value of Vector Groups [h] is made up of a large amount of empirical datas, it is necessary to carried out
A large amount of actual measurements of overhead road surface upstream and downstream can just be obtained；Overhead prediction judges software algorithm in running, according to reality
Actual measureed value of acceleration data during traveling are adjusted threshold value h, and the t being met under threshold value h；Wherein h=
[h1, h2, h3..., hn], t=[t1, t2, t3...tn]；(3) core of overhead anticipation algorithm is to meeting dividing under h
Section time t is judged；Split time t is also a Vector Groups, and in decision process, t must arrange an empirical value, Jing first
Test value and come from substantial amounts of actual road conditions measured data, threshold value T=[T1, T2, T3...] is set using this empirical value then；Work as reality
When survey is met time data t of threshold value h and is compared with threshold value T, under conditions of meeting threshold value T, that is, below equation is met
When, judgement is overhead road
Road；(4), after being met the data inclination alpha of threshold value, time t according to actual measurement, the data are matched with cartographic information, such as
Occur overhead parallel road on cartographic information, be then judged to overpass entrance or outlet；Meanwhile, according to the positive and negative of inclination alpha
Information, it is possible to determine that be overhead upstream or downstream；If mismatched with cartographic information, backing within the first step carries out gravity
Directional acceleration component is gathered, and repeats the algorithmic procedure of (1) to (4)；(5) when overhead anticipation algorithm judges overpass success
Afterwards, algorithm will carry out real road planning to navigation programming again.
Can be drawn by Fig. 2 steric accelerations schematic diagram, Ax=g sin α.Wherein Ax is X-direction component of acceleration, Ay
For Y direction acceleration direction, Az is Z axis acceleration durection component, and Axg represents acceleration of gravity durection component.
The formula at space angle of inclination is：This is the basic of Measuring Object angle of inclination
Principle formula.
If object also has acceleration of motion simultaneously, formula is modified to while meeting following two condition【1】：
【2】
A kind of application of overpass vehicle mounted guidance algorithm, using 3-axis acceleration sensor, is accelerated using gravity direction
Spend with travel direction acceleration combination calculation vehicle gravity direction component of acceleration obtaining inclining in vehicle travel process
Horn shape state.It is characterized in high precision, good reliability.
It is, in ground run, to move on X-Z plane in most cases, only when vehicle is climbed in view of automobile
When slope or descending, Y direction just occurs component of acceleration.Therefore, in the present invention, it is only necessary to carry out simplifying the acceleration of three axles
The measurement scheme of degree, weighs the angled state in vehicle travel process with component A xg in acceleration of gravity direction.
Using two axle acceleration sensors, obtained using the component of acceleration of travel direction acceleration analysis gravity direction
Angled state in vehicle travel process.Low cost is characterized in, precision is low compared with 3-axis acceleration.It is of the present invention
The vehicle-mounted assisting navigation hardware algorithm cost of implementation of overpass is low, improves navigation accuracy, convenient, fast to be planned road in real time
Footpath.
The vehicle-mounted assisting navigation algorithm of overpass of the present invention supports the navigation of the multisystems such as GPS, the Big Dipper, suitability
It is good, highly versatile.The assisting navigation algorithm is simple, portable high, it is adaptable to which that navigator, mobile phone, PAD etc. are portable to be set
It is standby.
All technical sides that the present invention still has numerous embodiments, all employing equivalents or an equivalent transformation and formed
Case, is within the scope of the present invention.
Claims (4)
1. the vehicle-mounted assisting navigation algorithm of a kind of overpass, it is characterised in that：By acceleration transducer collection vehicle gravity side
To real time acceleration component of signal, combining cartographic information system is using overpass anticipation algorithm in limit timing window, described overhead
The flow process of road anticipation algorithm is：
(1) collection of g directional accelerations component, measures the component of acceleration in gravity g directions using acceleration transducer；
(2) inclination angle conversion, Split Time, using the principle at acceleration analysis inclination angle, measure the inclination alpha in vehicle travel process,
Start timing t when certain threshold value h is reached to acceleration signal simultaneously, timing when acceleration signal is less than threshold value h terminates；Threshold value h
Can be to realize automatically adjusting according to surface conditions, threshold value h occurs with a Vector Groups [h] in the algorithm.At the beginning of Vector Groups [h]
Initial value is made up of a large amount of empirical datas, it is necessary to which a large amount of actual measurements for carrying out overhead road surface upstream and downstream can just be obtained；Overhead prediction is sentenced
Software algorithm is determined in running, be adjusted threshold value h according to the actual measureed value of acceleration data during actual travel, and obtain
To the t met under threshold value h；Wherein h=[h1, h2, h3..., hn], t=[t1, t2, t3...tn]；
(3) overhead anticipation algorithm, the core of the overhead anticipation algorithm are that the split time t met under h is judged；
Split time t is also a Vector Groups, and in decision process, t must arrange an empirical value first, and empirical value comes from substantial amounts of reality
Border road conditions measured data, then arranges threshold value T=[T1, T2, T3...] using this empirical value；When actual measurement meets the time of threshold value h
When data t are compared with threshold value T, under conditions of meeting threshold value T, that is, below equation is met
Judgement is overpass；
(4) cartographic information is matched, after the data inclination alpha of threshold value, time t being met according to actual measurement, by the data and map
Information is matched, and is such as occurred overhead parallel road on cartographic information, is then judged to overpass entrance or outlet；Meanwhile,
According to the positive negative information of inclination alpha, it is possible to determine that be overhead upstream or downstream；If mismatched with cartographic information, return to
Gravity direction component of acceleration collection is carried out to the first step, repeats the algorithmic procedure of (1) to (4)；
(5) overpass judges and plans traveling scheme, and after overhead anticipation algorithm judges overpass success, algorithm will again
Real road planning is carried out to navigation programming.
2. the vehicle-mounted assisting navigation algorithm of overpass according to claim 1, it is characterised in that：Utilize in step (2)
The principle at acceleration analysis inclination angle, the formula for measuring the inclination alpha in vehicle travel process is：
Wherein Ax=g sin α, Ax are X-direction components of acceleration, and Ay is Y direction acceleration direction, and Az is Z axis acceleration side
To component, Axg represents acceleration of gravity durection component.
3. the application of the vehicle-mounted assisting navigation algorithm of a kind of overpass, it is characterised in that：Using 3-axis acceleration sensor, utilize
Gravity direction acceleration and travel direction acceleration combination calculation vehicle gravity direction component of acceleration obtaining vehicle row
Angled state during sailing.
4. the application of the vehicle-mounted assisting navigation algorithm of overpass according to claim 3, it is characterised in that：Added using two axles
Velocity sensor, obtains inclining in vehicle travel process using the component of acceleration of travel direction acceleration analysis gravity direction
Horn shape state.
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| CN201610968256.0A CN106568450B (en) | 2016-10-28 | 2016-10-28 | A kind of vehicle-mounted assisting navigation algorithm of overpass and application |
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| CN108195388A (en) * | 2017-12-25 | 2018-06-22 | 千寻位置网络有限公司 | The overhead climb and fall detection method of low-cost and high-precision |
| CN109100158A (en) * | 2018-09-02 | 2018-12-28 | 上海悦骑智能科技有限公司 | Vehicle fall detection method and system |
| CN109917440A (en) * | 2019-04-09 | 2019-06-21 | 广州小鹏汽车科技有限公司 | A kind of Combinated navigation method, system and vehicle |
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| CN108195388A (en) * | 2017-12-25 | 2018-06-22 | 千寻位置网络有限公司 | The overhead climb and fall detection method of low-cost and high-precision |
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| CN106568450B (en) | 2019-11-26 |
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