CN108986447A - Vehicles management method, server and system - Google Patents

Vehicles management method, server and system Download PDF

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Publication number
CN108986447A
CN108986447A CN201810765435.3A CN201810765435A CN108986447A CN 108986447 A CN108986447 A CN 108986447A CN 201810765435 A CN201810765435 A CN 201810765435A CN 108986447 A CN108986447 A CN 108986447A
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China
Prior art keywords
vehicle
location
data
coordinate
sample
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Granted
Application number
CN201810765435.3A
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Chinese (zh)
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CN108986447B (en
Inventor
张岩
田超
李贤恩
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Hanhai Information Technology Shanghai Co Ltd
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Beijing Mobai Technology Co Ltd
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Priority to CN201810765435.3A priority Critical patent/CN108986447B/en
Publication of CN108986447A publication Critical patent/CN108986447A/en
Application granted granted Critical
Publication of CN108986447B publication Critical patent/CN108986447B/en
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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/205—Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/202—Dispatching vehicles on the basis of a location, e.g. taxi dispatching

Abstract

The invention discloses a kind of vehicles management method, server and systems.This method comprises: obtaining more parts of position coordinates samples according to the more parts of vehicle position datas and more parts of reference location datas that have obtained；According to the more parts of position coordinates samples, location error spatial distribution is determined；According to the location error spatial distribution, vehicle management is implemented in triggering.According to the present invention, corresponding management is triggered to the biggish vehicle of location error, promotes vehicle management efficiency, improves the car experience of user.

Description

Vehicles management method, server and system
Technical field
The present invention relates to technical field of vehicle, more particularly, to a kind of vehicles management method, server and system.
Background technique
With manufacturing technology rapid development and internet it is universal, for example, by shared bicycle, shared automobile this Class shares vehicle driving, has become trip mode emerging in city, can effectively solve the trip requirements of Urban population, and And it is environmentally protective.
And as the userbase of shared vehicle is increasingly huge, with vehicle demand explosive growth, investment is provided in the market Operation shared vehicle fleet size increase substantially, due to share vehicle mobile circulation, if to put into circulation use be total to It enjoys vehicle not implement to manage, immense pressure can be brought to urban traffic control, therefore, the service provider for runing shared vehicle would generally After positioning to shared vehicle, implement corresponding vehicle management.At the same time, it is desirable to using the user of vehicle is shared generally also Need by after to available shared vehicle location, find corresponding shared vehicle carry out using.Thus, share the accurate of vehicle It positions extremely important.
But locating module (such as GPS, the Global Position being arranged on shared vehicle is generally relied at present System, global positioning system) shared vehicle is positioned, but the usual error of locating module of shared vehicle is larger, especially It finds shared vehicle using the user of shared vehicle up to several hundred rice, to expectation in the region of high building serious shielding, error, or The operation personnel that person runs the service provider of shared vehicle finds the shared vehicle that implement vehicle management, all brings greatly tired It is difficult.
Summary of the invention
It is an object of the present invention to provide a kind of new solutions for vehicle location.
According to the first aspect of the invention, a kind of vehicles management method is provided, wherein pass through server implementation, comprising:
According to the more parts of vehicle position datas and more parts of reference location datas obtained, obtains corresponding more parts of positions and sit Standard specimen sheet；
Wherein, reference location data is that other locating modules outside the locating module by vehicle itself obtain and vehicle The relevant data in locating geographical location, every part of position coordinates sample include vehicle location coordinate and sit with the vehicle location Mark corresponding reference position coordinate；
According to more parts of position coordinates samples, location error spatial distribution is determined；
Wherein, location error spatial distribution is the distribution there are the position coordinates sample of location error in geographical space；
According to location error spatial distribution, corresponding vehicle management is implemented in triggering.
Optionally,
Reference location data includes location data；Method further include:
Terminate in vehicle in use, obtaining the vehicle position data of vehicle；
And when user begins to use vehicle, corresponding location data is obtained；
And/or
Reference location data includes the device location data of road positioning device；Method further include:
Vehicle terminate in use, obtain vehicle vehicle position data and corresponding with vehicle road positioning device Device location data.
Optionally, the step of position coordinates sample of the corresponding more parts of position coordinates samples of acquisition includes:
Respectively to every part of vehicle position data, determine that there are associated reference location datas；
Vehicle location coordinate is obtained according to every part of vehicle position data respectively, and is existed according to the vehicle position data Associated reference location data obtains reference position coordinate corresponding with the vehicle location coordinate, obtains corresponding position coordinates Sample obtains more parts of position coordinates samples with this.
Optionally,
Reference location data includes location data；
Respectively to every part of vehicle position data, determining that there are the step of associated reference location data to include:
To every part of vehicle position data, in the location data of the user using the corresponding vehicle of the vehicle position data In, choose it is corresponding obtain the moment and meet the location data of preset association in time condition, as with vehicle position data There are associated reference location datas；
And/or reference location data includes device location data；
Respectively to every part of vehicle position data, determining that there are the step of associated reference location data to include:
To every part of vehicle position data, the nearest road positioning device of vehicle distances corresponding with vehicle position data is chosen Device location data, as there are associated reference location datas with vehicle position data.
Optionally,
Association in time condition is that the acquisition moment of reference location data was after the acquisition moment of vehicle position data, And the time difference of the two is in preset duration.
Optionally, according to more parts of position coordinates samples, the step of determining location error spatial distribution, includes:
To each position coordinates sample, the error distance of position coordinates sample is obtained；
Error distance is greater than to the position coordinates sample of error distance threshold value, is determined as the position coordinates there are location error Sample；
According to there are the vehicle location coordinate of the position coordinates sample of location error, location error spatial distribution is determined.
Optionally,
To each position coordinates sample, the step of obtaining the error distance of position coordinates sample, includes:
According to the vehicle location coordinate and reference position coordinate of position coordinates sample, position deviation parameter is determined；
According to position deviation parameter and earth radius, corresponding error distance is determined；
And/or
To each position coordinates sample, the step of obtaining the error distance of position coordinates sample, includes:
According to the vehicle location coordinate and reference position coordinate of position coordinates sample, obtain Manhattan between the two away from From or Chebyshev with a distance from, as error distance.
Optionally,
The vehicle location coordinate and user location coordinate of position coordinates sample are the position coordinates based on different coordinates；
Before the error distance step for obtaining position coordinates sample further include:
According to preset target-based coordinate system, vehicle location coordinate and user location coordinate are handled, are based on The vehicle location coordinate and user location coordinate of preset target-based coordinate system, to obtain the error distance of position coordinates sample.
Optionally,
Vehicle management is calibrated including at least vehicle location；
According to location error spatial distribution, triggering the step of implementing corresponding vehicle management includes:
It is distributed in corresponding geographical space in the position error space, determines that there are the vehicle alignments of vehicle location calibration requirements Region；
Target vehicle is chosen in vehicle alignment region；
According to target vehicle and the vehicle position data of the Adjacent vehicles of target vehicle, vehicle position is carried out to target vehicle Calibration is set, the calibrating position coordinate of target vehicle is obtained.
Optionally,
It is distributed in corresponding geographical space in the position error space, determines that there are the vehicle alignments of vehicle location calibration requirements The step of region includes:
Geographical space is divided to obtain multiple geographic areas；
Obtain that each geographic area includes there are the numbers of samples of the position coordinates sample of location error；
Number of samples is greater than to the geographic area of preset quantity threshold, is determined as vehicle alignment region.
Optionally, include: the step of selection target vehicle in vehicle alignment region
The corresponding vehicle of the maximum position coordinates sample of error distance in vehicle alignment region is chosen, as target vehicle.
Optionally, according to target vehicle and the vehicle position data of the Adjacent vehicles of target vehicle, to target vehicle The step of vehicle position data is calibrated, vehicle position data after being calibrated include:
According to target vehicle and and target vehicle Adjacent vehicles vehicle position data, obtain it is corresponding include more parts The position sample set of position sample；
Wherein, every part of position sample includes the vehicle location coordinate obtained according to a vehicle position data；
It determines there is abnormal position sample and filtering in position sample set, obtains calibration sample set；
According to calibration sample set, the calibrating position coordinate of target vehicle is determined.
Optionally,
Every part of vehicle position data includes at least the unique vehicle identification, vehicle location coordinate and acquisition vehicle position of vehicle At the time of setting coordinate；
Every part of reference location data includes location data, and location data includes at least the vehicle that user uses At the time of unique vehicle identification, user location coordinate and acquisition user location coordinate.
According to the second aspect of the invention, a kind of server is provided, wherein include:
Memory, for storing executable instruction；
Processor, for the control according to executable instruction, runtime server executes the first aspect of the present invention offer Any one vehicles management method.
According to the third aspect of the invention we, a kind of vehicle management system is provided, wherein include:
Vehicle；
Client；
And server as according to the second aspect of the invention.
It is determined corresponding according to one embodiment of the disclosure by more parts of vehicle position datas and reference location data More parts of position coordinates samples determine location error spatial distribution according to more parts of position coordinates samples, according to location error space point Cloth, can be corresponding to promote vehicle management efficiency for there are the triggerings of the vehicle of larger location error to implement corresponding vehicle management, Improve the car experience of user.
By referring to the drawings to the detailed description of exemplary embodiment of the present invention, other feature of the invention and its Advantage will become apparent.
Detailed description of the invention
It is combined in the description and the attached drawing for constituting part of specification shows the embodiment of the present invention, and even With its explanation together principle for explaining the present invention.
Fig. 1 is the block diagram for showing the example of hardware configuration for the computing system that can be used for realizing the embodiment of the present invention.
Fig. 2 shows the flow charts of the vehicles management method of the first embodiment of the present invention.
Fig. 3 shows the flow chart of the acquisition position coordinates sample step of the first embodiment of the present invention.
Fig. 4 shows the flow chart of the determination error space distribution step of the first embodiment of the present invention.
Fig. 5 shows the flow chart of the acquisition error distance step of the first embodiment of the present invention.
Fig. 6 shows the flow chart of the triggering vehicle management step of the first embodiment of the present invention.
Fig. 7 shows the flow chart of the determination vehicle alignment region step of the first embodiment of the present invention.
Fig. 8 shows the flow chart of the acquisition calibrating position coordinate step of the first embodiment of the present invention.
Fig. 9 shows the block diagram of the server of the first embodiment of the present invention.
Figure 10 shows the block diagram of the vehicle management system of the second embodiment of the present invention.
Specific embodiment
Carry out the various exemplary embodiments of detailed description of the present invention now with reference to attached drawing.It should also be noted that unless in addition having Body explanation, the unlimited system of component and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally The range of invention.
Be to the description only actually of at least one exemplary embodiment below it is illustrative, never as to the present invention And its application or any restrictions used.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable In the case of, technology, method and apparatus should be considered as part of specification.
It is shown here and discuss all examples in, any occurrence should be construed as merely illustratively, without It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi It is defined in a attached drawing, then in subsequent attached drawing does not need that it is further discussed.
<hardware configuration>
As shown in Figure 1, Vehicular system 100 includes server 1000, client 2000, vehicle 3000, network 4000.
1000 offer processing of server, database, communications service service point.Server 1000 can be monoblock type service Device or decentralized service device across multicomputer or computer data center.Server can be it is various types of, such as but It is not limited to, network server, NEWS SERVER, mail server, message server, Advertisement Server, file server, applies Server, interactive server, database server or proxy server.In some embodiments, each server may include Hardware, software, or the embedded logic module of proper function supporting or realize for execute server or it is two or more this The combination of class component.For example, server such as blade server, cloud server etc., or can be by multiple servers group At server farm, may include one of server of the above-mentioned type or a variety of etc..
In one example, server 1000 can be as shown in Figure 1, include processor 1100, memory 1200, interface dress Set 1300, communication device 1400, display device 1500, input unit 1600.Although server also may include loudspeaker, Mike Wind etc., still, these components are unrelated to the invention, therefore omit herein.
Wherein, processor 1100 is such as can be central processor CPU, Micro-processor MCV.Memory 1200 for example wraps Include ROM (read-only memory), RAM (random access memory), nonvolatile memory of hard disk etc..Interface arrangement 1300 For example including USB interface, serial line interface, infrared interface etc..Communication device 1400 is for example able to carry out wired or wireless communication.It is aobvious Showing device 1500 is, for example, liquid crystal display, LED display touch display screen etc..Input unit 1600 for example may include touching Screen, keyboard etc..
In the present embodiment, client 2000 is the electronic equipment with communication function, service processing function.Client 2000 can be mobile terminal, such as mobile phone, portable computer, tablet computer, palm PC etc..In one example, objective Family end 2000 is the equipment for implementing management operation to vehicle 3000, for example, being equipped with the application program for supporting operation, management vehicle (APP) mobile phone.
As shown in Figure 1, client 2000 may include processor 2100, memory 2200, interface arrangement 2300, communication dress Set 2400, display device 2500, input unit 2600, output device 2700, photographic device 2800, etc..Wherein, processor 2100 can be central processor CPU, Micro-processor MCV etc..Memory 2200 is for example including ROM (read-only memory), RAM (random access memory), nonvolatile memory of hard disk etc..Interface arrangement 2300 is for example including USB interface, earphone Interface etc..Communication device 2400 is for example able to carry out wired or wireless communication.Display device 2500 is, for example, liquid crystal display, touching Touch display screen etc..Input unit 2600 is such as may include touch screen, keyboard or microphone.Output device 2700 is for defeated Information out, such as can be loudspeaker, for exporting voice messaging for user.Photographic device 2800 obtains information for shooting, E.g. camera etc..
Vehicle 3000 is any right to use that can sell with timesharing or with dividing for the shared vehicle used of different user, for example, For shared shared bicycle, shared vehicle using motor, shared electric vehicle, shared vehicle etc..Vehicle 3000 can be bicycle, three Take turns the various forms such as vehicle, Moped Scooter, motorcycle and fourth wheel passenger car.
As shown in Figure 1, vehicle 3000 may include processor 3100, memory 3200, interface arrangement 3300, communication device 3400, output device 3500, input unit 3600, positioning device 3700, sensor 3800, etc..Wherein, processor 3100 can To be central processor CPU, Micro-processor MCV etc..Memory 3200 (is deposited at random for example including ROM (read-only memory), RAM Access to memory), the nonvolatile memory of hard disk etc..Interface arrangement 3300 is for example including USB interface, earphone interface etc.. Communication device 3400 is for example able to carry out wired or wireless communication.Output device 3500 for example can be the device of output signal, It can be display device, such as liquid crystal display, touch display screen etc., be also possible to output voice messaging such as loudspeaker etc..It is defeated Enter device 3600 such as may include touch screen, keyboard, is also possible to microphone input voice messaging.Positioning device 3700 is used In offer positioning function, such as can be GPS positioning module, Beidou positioning module etc..Sensor 3800 is for obtaining vehicle appearance State information, such as can be accelerometer, gyroscope or three axis, six axis, nine axis microelectromechanicdevice systems (MEMS) etc..
Network 4000 can be cordless communication network and be also possible to wireline communication network, can be local area network and is also possible to extensively Domain net.In article management system shown in Fig. 1, vehicle 3000 and server 1000, client 2000 and server 1000 can To be communicated by network 4000.In addition, vehicle 3000 communicates institute with server 1000, client 2000 with server 1000 Based on network 4000 can be same, be also possible to different.
It should be understood that although Fig. 1 only shows a server 1000, client 2000, vehicle 3000, it is not intended that The corresponding number of limitation, may include multiple servers 1000, client 2000, vehicle 3000 in Vehicular system 100.
By taking vehicle 3000 is shared bicycle as an example, Vehicular system 100 is shared bicycle system.Server 1000 is used for It provides and shared bicycle is supported to use necessary repertoire.Client 2000 can be mobile phone, is equipped with shares certainly thereon Driving application program, shared bicycle application program can help user to obtain corresponding function etc. using vehicle 3000.
Vehicular system 100 shown in FIG. 1 is only explanatory, and never be intended to limitation the present invention, its application or Purposes.
Using in an embodiment of the present invention, the memory 1200 of server 1000 for storing instruction, is instructed for controlling Processor 1100 processed is operated to execute vehicle positioning method provided in an embodiment of the present invention.
Although showing multiple devices to server 1000 in Fig. 1, the present invention can only relate to part therein Device, for example, server 1000 pertains only to memory 1200 and processor 1100.
Using in an embodiment of the present invention, the memory 2200 of client 2000 for storing instruction, is instructed for controlling Processor 2100 processed runs client 2000 and executes vehicles management method provided in an embodiment of the present invention.
Although showing multiple devices to client 2000 in Fig. 1, the present invention can only relate to part therein Device, for example, client 2000 pertains only to memory 2200 and processor 2100.
Using in an embodiment of the present invention, the memory 3200 of vehicle 3000 for storing instruction, is instructed for controlling Processor 3100 is operated to execute vehicle positioning method provided in an embodiment of the present invention.
Although showing multiple devices to vehicle 3000 in Fig. 1, the present invention can only relate to part dress therein It sets, for example, vehicle 3000 pertains only to memory 3200 and processor 3100.
In the foregoing description, technical staff can disclosed conceptual design instruction according to the present invention.How instruction controls place Reason device is operated, this is it is known in the art that therefore being not described in detail herein.
<first embodiment>
<method>
A kind of vehicle positioning method provided in the present embodiment, the vehicle are launched for user with timesharing lease, point ground The transit equipment that isotype obtains the right to use is leased, which can be two-wheeled or tricycle, vehicle using motor, electric vehicle, It can be the motor vehicles of four-wheel or more.
The vehicle positioning method, by server implementation, which can be various entity forms.For example, server It can be cloud server, or can also be server 1000 as shown in Figure 1.
As shown in Fig. 2, the vehicles management method includes: step S2100-S2300.
Step S2100 obtains more parts of positions according to the more parts of vehicle position datas and more parts of reference location datas obtained Set coordinate sample.
Every part of position coordinates sample includes vehicle location coordinate and reference position corresponding with the vehicle location coordinate Coordinate.
Vehicle position data is data relevant to geographical location locating for vehicle.In one example, every part of vehicle position Data are set including at least the unique vehicle identification of vehicle, vehicle location coordinate and at the time of obtaining vehicle location coordinate.
The unique vehicle identification of vehicle is used for unique identification vehicle, for example, can be vehicle ID.
Vehicle location coordinate is the coordinate information for identifying vehicle location.Vehicle location coordinate may include vehicle place The longitude in geographical location and the latitude of vehicle.The vehicle location coordinate can be by vehicle according to preset periodic report vehicle position Acquisition when setting data, or triggered after being requested to vehicle and offer acquisition on vehicle.In the present embodiment, vehicle can pass through The locating module (such as GPS, Global Position System, global positioning system) of itself is set to obtain itself Vehicle location coordinate, it is numerous to list herein.
It is to implement the server of the present embodiment to obtain corresponding vehicle location from vehicle at the time of obtaining vehicle location coordinate At the time of coordinate.In one example, can be vehicle at the time of obtaining vehicle location coordinate terminates in use, such as vehicle is When bicycle, when being exactly vehicle car locking at the time of obtaining vehicle location coordinate.
Reference location data be other locating modules outside the locating module by vehicle itself obtain with locating for vehicle The relevant data in geographical location.
In one example, reference location data may include location data.The location data can be by making It is obtained with the client that the user of vehicle is held.For example, location data can include at least the vehicle that user uses At the time of unique vehicle identification, user location coordinate and acquisition user location coordinate.
User location coordinate is the coordinate information for identity user position.User location coordinate may include user place The longitude in geographical location and the latitude of vehicle.The user location coordinate can be by the positioning that includes in client that user uses Module (such as GPS) is reported to the server for implementing the present embodiment after obtaining.
It is to implement the server of the present embodiment to obtain corresponding user from user from the time of obtaining user location coordinate At the time of setting coordinate.In one example, when can be user at the time of obtaining user location coordinate and begin to use, such as vehicle It is exactly the two dimensional code for being user using used client scan vehicle when being bicycle, at the time of obtaining user location coordinate Or at the time of input vehicle ID progress unlocking operation.
In one example, reference location data includes location data, corresponding, vehicle pipe provided in this embodiment Reason method, further includes:
Terminate in vehicle in use, obtaining the vehicle position data of vehicle；
And when user begins to use vehicle, corresponding location data is obtained.
In this example, vehicle terminate using when obtain vehicle vehicle position data, be vehicle determine stop after obtaining Vehicle position data, it can be ensured that the data stability of the vehicle position data of acquisition.For example, when vehicle is bicycle, with Family obtains vehicle position data when terminating using bicycle car locking, it is ensured that obtains the data stability of vehicle position data.
And when user begins to use vehicle, vehicle enters use state from stationary state at this time, obtains corresponding user Position data, for the reference location data as vehicle location, it is ensured that the referential of reference location data is higher.In this example In, vehicle can have a various forms, and specific moment correspondence when user begins to use vehicle may also be different, for example, vehicle is It is two dimensional code or input of the user using used client scan vehicle when user begins to use vehicle when bicycle At the time of vehicle ID carries out unlocking operation, alternatively, being that user starts vehicle when user begins to use vehicle when vehicle is motor vehicle When engine.When user begins to use vehicle, the locating module that the client that can be used by user is configured, which obtains, to be used After the position data of family, it is reported to the server for implementing the present embodiment.
Alternatively, reference location data also may include the device location data of road positioning device.
Road positioning device is the equipment for being set on road and being used to position road particular geographic location, for example, bluetooth This kind of equipment with positioning function realized by close range wireless communication modes such as railway spike.It is corresponding, device location data It is exactly data relevant to the setting particular geographic location of road positioning device.In one example, reference location data includes The device location data of road positioning device.Accordingly, vehicles management method provided in this embodiment, further includes:
Vehicle terminate in use, obtain vehicle vehicle position data and corresponding with vehicle road positioning device Device location data.
In this example, vehicle can be various forms, corresponding vehicle terminate using when the specific moment it is corresponding there is also It is different.For example, when vehicle is bicycle, vehicle terminate using when be bicycle by user's car locking when, alternatively, vehicle is motor vehicle When, vehicle terminate using when be when car engine is flame-out, etc..The vehicle for how obtaining vehicle hereinbefore had been described in Position data, details are not described herein.
Road positioning device corresponding with vehicle, be vehicle terminate using when locating geographic vicinity road on be arranged The equipment for positioning road particular geographic location, realized for example, bluetooth railway spike is this kind of by close range wireless communication modes The equipment with positioning function.
Once being arranged on corresponding road, corresponding device location data accordingly determine that road positioning device, at this It, can be by obtaining the device identification of corresponding with vehicle road positioning device, according to the device identification from preservation road in example In the database of the device location data of positioning device, inquiry obtains corresponding device location data.
With road positioning device with bluetooth railway spike, vehicle is to be provided with to support that the bicycle of intelligent bicycle lock of Bluetooth communication is Example receives the Bluetooth signal that bluetooth railway spike around it issues by the intelligent bicycle lock of bicycle when bicycle is shut, from being connect It is (corresponding when bluetooth signal intensity is bigger that the maximum Bluetooth signal of bluetooth signal intensity is filtered out in all Bluetooth signals received The bluetooth railway spike it is closer apart from vehicle), the corresponding bluetooth railway spike of the Bluetooth signal of the maximum intensity be it is corresponding with bicycle Bluetooth railway spike, parse the device identification of the available bluetooth railway spike of the Bluetooth signal, can inquire to obtain according to device identification The equipment device data of the bluetooth railway spike.
In one example, the step of obtaining the position coordinates sample of corresponding more parts of position coordinates samples as shown in figure 3, It may include: step S2110-S2120.
Step S2110 determines that there are associated reference location datas respectively to every part of vehicle position data.
Vehicle position data is reported for vehicle by the locating module of itself relevant to geographical location locating for vehicle Data, reference location data be reported by other locating modules in addition to the locating module of vehicle itself with locating for vehicle The relevant data in geographical location.Determine that there are associated reference location datas can carry out by vehicle ID with vehicle position data Association determines, can also be associated determination by the vehicle distances with vehicle.
Every part of vehicle position data is determined there are associated reference location data respectively, to combine subsequent step to determine Corresponding more parts of position coordinates samples determine location error spatial distribution, according to location error according to more parts of position coordinates samples Corresponding vehicle management is implemented in spatial distribution, triggering, and corresponding management can be triggered to the biggish vehicle of location error, promotes vehicle The efficiency of management, improves the car experience of user.
In this example, reference location data may include location data, corresponding, and step S2210 includes:
To every part of vehicle position data, in the location data of the user using the corresponding vehicle of the vehicle position data In, choose it is corresponding obtain the moment and meet the location data of preset association in time condition, as with vehicle position data There are associated reference location datas.
It the acquisition moment of location data, can be by implementing in the present embodiment server when obtaining location data Record.The corresponding vehicle used by a user of the location data, can be implement the present embodiment in server according to vehicle Usage record inquiry obtains.
Alternatively, the acquisition moment of location data, the corresponding vehicle used by a user of the location data may be used also To be directly determined according to vehicle position data, location data.For example, vehicle position data includes at least unique vehicle of vehicle Mark, vehicle location coordinate and obtain vehicle location coordinate at the time of；Location data includes at least what user used The unique vehicle identification of vehicle, user location coordinate and at the time of obtain user location coordinate.According to the unique vehicle of vehicle Mark determines the user of the unique vehicle identification using the vehicle in location data, the corresponding acquisition moment is met The location data of preset association in time condition, as there are associated reference location datas with vehicle position data.
The association in time condition can be arranged according to specific application scenarios or application demand.For example, association in time item The acquisition moment that part can be reference location data was after the acquisition moment of vehicle position data, and the time difference of the two In preset duration.Preset duration can be arranged according to concrete application scene or application demand, such as vehicle position data obtains Taking is that vehicle terminates in use, when the acquisition moment of reference location data is that user begins to use vehicle constantly, and preset duration is set It is set to 1 hour, accordingly, user uses vehicle in vehicle last time terminates 1 hour after, then meets association in time item Part.
In addition, if whether vehicle (is area that manager often carries adjustment in the region that manager often carries adjustment Domain can be obtained using existing technological means, and which is not described herein again), the acquisition moment of vehicle position data can be set to vehicle Terminate in use, preset duration can be set to 1 hour, corresponding, the acquisition moment of reference location data must be in vehicle Terminate use after 1 hour in, to prevent be arranged the time difference duration it is too long, a possibility that being handled upside down there are vehicle；And If vehicle does not often carry the region of adjustment in manager, what preset duration was adapted to is set greater than 1 hour duration.
In this example, reference location data also may include device location data, corresponding, and step S2210 includes:
To every part of vehicle position data, the nearest road positioning device of vehicle distances corresponding with vehicle position data is chosen Device location data, as there are associated reference location datas with vehicle position data.
The device location data for choosing the nearest road positioning device of vehicle distances corresponding with vehicle position data, as With vehicle position data there are associated reference location data, guarantee that the property of can refer to of reference location data is higher.It is fixed with road For position equipment with bluetooth railway spike, vehicle is the bicycle for being provided with the intelligent bicycle lock for supporting Bluetooth communication, and vehicle position data obtains For taking when being shut constantly for bicycle: when bicycle is shut, receiving bluetooth road around it by the intelligent bicycle lock of bicycle The Bluetooth signal issued is followed closely, it is (blue to filter out the maximum Bluetooth signal of bluetooth signal intensity from the received all Bluetooth signals of institute When tooth signal strength is bigger, the corresponding bluetooth railway spike is closer apart from vehicle), the corresponding bluetooth of the Bluetooth signal of the maximum intensity Railway spike is to parse the device identification of the available bluetooth railway spike of the Bluetooth signal apart from nearest bluetooth railway spike with bicycle, , can be from the database of the device location data of record bluetooth railway spike according to device identification, inquiry obtains the bluetooth railway spike Equipment device data, as the vehicle position data with bicycle, there are associated reference location datas.
Step S2120 obtains vehicle location coordinate according to every part of vehicle position data respectively, and according to the vehicle position Setting data, there are associated reference location datas, obtain reference position coordinate corresponding with the vehicle location coordinate, are corresponded to Position coordinates sample, more parts of position coordinates samples are obtained with this.
It may include user location number in reference location data for example, including vehicle location coordinate in vehicle position data According to, in location data include user location coordinate, can be obtained directly from every part of vehicle position data vehicle location sit Mark, takes out user location coordinate as reference position coordinate from location data corresponding with this part of vehicle position data, Corresponding position coordinates sample is obtained, more parts of position coordinates samples are obtained with this.
It may include device location in reference location data in another example including vehicle location coordinate in vehicle position data Data include device location coordinate in device location data, directly can obtain vehicle location from every part of vehicle position data Coordinate, extraction device position coordinates are sat as reference position from device location data corresponding with this part of vehicle position data Mark, obtains corresponding position coordinates sample, obtains more parts of position coordinates samples with this.
In the present embodiment, according to there are associated vehicle position data and reference location data, determination obtains corresponding more Part position coordinates sample, in conjunction with the available corresponding location error spatial distribution of subsequent step, according to location error space point Cloth, can be corresponding to promote vehicle management efficiency for there are the triggerings of the vehicle of larger location error to implement corresponding vehicle management, Improve the car experience of user.
After step S2100, enter:
Step S2200 determines location error spatial distribution according to more parts of position coordinates samples；Wherein, location error space Distribution is the distribution there are the position coordinates sample of location error in geographical space.
Every part of position coordinates sample includes that vehicle location coordinate and reference position corresponding with the vehicle location coordinate are sat Mark.
Location error spatial distribution can be marks that corresponding there are the position coordinates of location error on corresponding map The vehicle location coordinate of sample, it is corresponding to obtain the distribution there are the position coordinates sample of location error in geographical space.
In one example, according to more parts of position coordinates samples, location error spatial distribution is determined as shown in figure 4, can be with It include: step S2210-S2230.
Step S2210 obtains the error distance of position coordinates sample to each position coordinates sample.
Position coordinates sample includes vehicle location coordinate and reference position coordinate corresponding with the vehicle location coordinate.
The error distance of position coordinates sample is for measuring between the corresponding reference position coordinate of vehicle location coordinate Existing error.The error distance can be diversified forms, corresponding, can obtain corresponding mistake in this example in several ways Gap from.
For example, as shown in figure 5, may include step S2211-S2212:
Step S2211 determines position deviation according to the vehicle location coordinate and reference position coordinate of position coordinates sample Parameter.
Parameter of the position deviation parameter for the error distance of calculating position coordinate sample.
Assuming that vehicle location coordinate is (MLatA, MLonA) in position coordinates sample, wherein MLatA is the latitude of vehicle, MLonA is the longitude of vehicle；Reference position coordinate is (MLatB, MLonB), and MLatB is the latitude of user or road positioning device Degree, MLonB are the longitude of user or road positioning device, it is assumed that according to the benchmark of 0 degree of warp, the positive value of east longitude degree of learning from else's experience, The negative value of west longitude degree of learning from else's experience, north latitude take 90- latitude value, and south latitude takes 90+ latitude value, then position deviation parameter C are as follows:
C=sin (MLatA) * sin (MLatB) * cos (MLonA-MLonB)
+cos(MLatA)*cos(MLatB)
Step S2212 determines corresponding error distance according to position deviation parameter and earth radius.
Assuming that earth radius is R, position deviation parameter is C, then corresponding error distance Distance are as follows:
Distance=R*arccos (C) * Pi/180
Wherein, Pi is pi, and the measurement method of earth radius R can be realized using the prior art, and which is not described herein again.
In one example, the vehicle location coordinate of position coordinates sample and user location coordinate are based on different coordinates Position coordinates；Before the error distance step for obtaining the position coordinates sample further include:
According to preset target-based coordinate system, vehicle location coordinate and user location coordinate are handled, are based on The vehicle location coordinate and user location coordinate of preset target-based coordinate system, to obtain the error distance of position coordinates sample.
Vehicle location coordinate is the coordinate information for identifying vehicle location；User location coordinate is for identity user position The coordinate information set.Above-mentioned coordinate information can be (former based on GCJ-02 coordinate system (Mars coordinate system), WGS-84 coordinate system Beginning coordinate system), other coordinate systems such as bd-09 coordinate system (Baidu's coordinate system).
Preset target-based coordinate system is that the coordinate system for being based on vehicle location coordinate and user location coordinate carries out unification Afterwards, the coordinate system that vehicle location coordinate and user location coordinate are based on.The preset target-based coordinate system can be and vehicle position Set that the coordinate system that coordinate is based on is consistent, be also possible to it is consistent with the coordinate system that user location coordinate is based on, can also be with The inconsistent third party's coordinate system of the coordinate system that vehicle location coordinate and user location coordinate are based on.
When vehicle location coordinate and user location coordinate are the position coordinates based on different coordinates, need vehicle position It sets the coordinate system that coordinate and user location coordinate are based on and carries out unification.Such as vehicle location coordinate is based on GCJ-02 coordinate system (Mars coordinate system), user location coordinate are based on WGS-84 coordinate system (original coordinate system), and preset target-based coordinate system can be GCJ-02 coordinate system used by vehicle location coordinate, or WGS-84 coordinate system used by user location coordinate, also It can be other third party's coordinate systems, not limited this in the present embodiment.,
Assuming that vehicle location coordinate uses the first coordinate system, vehicle location coordinate is (LatA, LonA), wherein LatA is The latitude of vehicle, LonA be vehicle longitude, user location coordinate use the second coordinate system, user location coordinate be (MLatB, MLonB), MLatA is the latitude of user, and MLonA is the longitude of user, and preset target-based coordinate system is the second coordinate system.
The first coordinate system that vehicle location coordinate is used is converted to the second coordinate system, it is assumed that α1For the first coordinate system and Conversion coefficient between two coordinate systems, α2Conversion degree between the first coordinate system and the second coordinate system, the then vehicle after converting Position coordinates (MLatA, MLonA) are as follows:
(MLatA, MLonA)=(α1LatA+α2,α1LonA+α2)
Wherein, MLatA is the latitude of unified coordinate system rear vehicle, and MLonA is the longitude of unified coordinate system rear vehicle.
Assuming that according to the benchmark of 0 degree of warp, the positive value of east longitude degree of learning from else's experience, the negative value of west longitude degree of learning from else's experience, north latitude takes 90- latitude Value, south latitude take 90+ latitude value, then position deviation parameter C are as follows:
C=sin (MLatA) * sin (MLatB) * cos (MLonA-MLonB)
+cos(MLatA)*cos(MLatB)
Corresponding error distance Distance are as follows:
Distance=R*Arccos (C) * Pi/180
Wherein, Pi is pi, earth radius R.
For example, can according to the vehicle location coordinate and the reference position coordinate of the position coordinates sample, Manhatton distance between the two or Chebyshev's distance are obtained, as the error distance.
Manhatton distance between the two is obtained, as the error distance Distance:
Distance=| x1-x2|+|y1-y2|
Wherein, (x1,y1) it is plane coordinates after converting the longitude and latitude of vehicle coordinate position, (x2,y2) it is reference position Plane coordinates after the longitude and latitude conversion of coordinate.
Latitude and longitude coordinates conversion plane coordinate can be used into Mercator's coordinate projection, Miller coordinate projection, horizontal axis ink card Hold in the palm the methods of projection, Gauss Kru&4&ger projection, Lambert isogonism secant conical projection.
Chebyshev's distance between the two is obtained, as the error distance Distance:
Distance=max (| x1-x2|,|y1-y2|)
Wherein, (x1,y1) it is plane coordinates after converting the longitude and latitude of vehicle coordinate position, (x2,y2) it is reference position Plane coordinates after the longitude and latitude conversion of coordinate.
It should be understood that above-mentioned is only to list three kinds to realize the mode for obtaining the error distance of position coordinates sample, There can also be other modes that the error distance of position coordinates sample is calculated, will not enumerate herein.
Furthermore it is also possible to obtain value as final mistake after the error distance that above-mentioned at least two mode obtains is averaging Gap from.
After the error distance that step S2210 obtains position coordinates sample, enter:
Error distance is greater than the position coordinates sample of error distance threshold value, is determined as that there are location errors by step S2220 Position coordinates sample.
Error distance threshold value is used to judge whether position coordinates sample to be position coordinates sample there are location error.Error Distance threshold can be set according to application scenarios and application demand, such as error distance threshold value can be set as 100 meters.
There are the position coordinates samples of location error to refer to that corresponding vehicle location coordinate exists in the position coordinates sample Error.
Step S2230 determines location error sky according to there are the vehicle location coordinates of the position coordinates sample of location error Between be distributed.
According to above-mentioned steps S2220, the position coordinates sample of error distance threshold value is greater than according to error distance, it is determined that deposit In the position coordinates sample of location error, the vehicle location coordinate of the position coordinates sample of location error will be present correspondingly It is marked on figure, it is corresponding to obtain the distribution there are the position coordinates sample of location error in geographical space.
For example, in a map, the vehicle location coordinate of vehicle in some geographical space some day is shown, when obtaining vehicle Corresponding error distance is greater than error distance threshold value, then by the corresponding vehicle location coordinate of the vehicle in map with being different from The mark of the vehicle location coordinate of normal vehicle is labeled, and is labeled with the vehicle position of the position coordinates sample there are location error The map distribution map of coordinate is set, as corresponding location error spatial distribution.
After step S2200 has determined corresponding error space distribution, enter:
Step S2300, according to location error spatial distribution, corresponding vehicle management is implemented in triggering.
Vehicle management may include vehicle location calibration, can also notify operation personnel's manual calibration, can also carry out reality Calibration etc. is investigated on ground on the spot, further, it is also possible to using the calibration coordinate of vehicle as the coordinate of Adjacent vehicles.
In one example, vehicle management is calibrated including at least vehicle location, and step S2300 can be as shown in fig. 6, packet It includes: step S2310-S2330.
Step S2310 is distributed in corresponding geographical space in the position error space, determines that there are vehicle location calibration requirements Vehicle alignment region.
Vehicle alignment region is the region for needing to calibrate for identifying vehicle position data.
Specifically, step S2310 can with as shown in fig. 7, comprises: step S2311-S2313.
Step S2311 divides geographical space to obtain multiple geographic areas.
Geographical space division can be divided according to preset area size, for example 100*100 can be divided into The grid etc. of size can also divide etc. according to the administrative region of this area belonging to geographical space.
Step S2312, obtain that each geographic area includes there are the numbers of samples of the position coordinates sample of location error.
There are the numbers of samples of the position coordinates sample of location error, and for counting in each geographic area, there are position mistakes The number of the position coordinates sample of difference.
It, can according to there are the corresponding location error spatial distribution of the vehicle location coordinate of the position coordinates sample of location error With count that each geographic area includes there are the numbers of samples of the position coordinates sample of location error.
Number of samples is greater than the geographic area of preset quantity threshold, is determined as vehicle alignment region by step S2313.
Quantity threshold is for judging whether some geographic area is vehicle alignment region.The quantity threshold can be according to specific Application scenarios or application demand setting.
After step S2310, enter:
Step S2320 chooses target vehicle in vehicle alignment region.
Target vehicle is for the target as calibrating position coordinate.The target vehicle can be two-wheeled or tricycle, Vehicle using motor, electric vehicle are also possible to the motor vehicles etc. of four-wheel or more.
Specifically, it can choose the corresponding vehicle of the maximum position coordinates sample of error distance in vehicle alignment region, make For target vehicle, any one vehicle can also be randomly selected as target vehicle, it is, of course, also possible to by all conducts of all vehicles Target vehicle.
Step S2330, according to target vehicle and the vehicle position data of the Adjacent vehicles of target vehicle, to target vehicle Vehicle location calibration is carried out, the calibrating position coordinate of target vehicle is obtained.
Specifically, step S2330 can be as shown in Figure 8, comprising: step S2331-S2333.
Step S2331, according to target vehicle and the vehicle position data of the Adjacent vehicles of target vehicle, it includes more for obtaining The position sample set of part position sample；Wherein, every part of position sample includes the vehicle obtained according to a vehicle position data Position coordinates.
The target vehicle can be two-wheeled or tricycle, vehicle using motor, electric vehicle, be also possible to the motor-driven of four-wheel or more Vehicle etc..There are more Adjacent vehicles around target vehicle.
In this example, vehicle is supported to carry out wireless near field communication, and vehicle can be connect by receiving close-range communication signal It collects mail and ceases.
By taking target vehicle is shared bicycle as an example, the intelligent bicycle lock being arranged on target vehicle can be supported to carry out closely Wireless communication, for example wireless near field communication signal is sent or received, target vehicle can be by the short distance nothing received Line signal of communication is parsed, and the vehicle unique identification for including in wireless near field communication signal is obtained, and is determined and is sent the low coverage Vehicle from wireless communication, and determine that sending the vehicle of the wireless near field communication is the adjacent vehicle near field communication range ?.In addition, signal strength threshold can also be preset in this example, when the signal strength of received wireless near field communication signal When greater than the signal strength threshold, just determine that sending the vehicle of the wireless near field communication is the phase near field communication range Adjacent vehicle.The signal strength threshold can be set according to application scenarios and application demand.
In the present embodiment, the position data of vehicle be vehicle reported by the locating module of itself with locating for vehicle The relevant data in geographical location, the vehicle position data include at least the unique vehicle identification of vehicle, vehicle location coordinate and At the time of obtaining vehicle location coordinate.
Step S2332 determines there is abnormal position sample and filtering in position sample set, obtains calibration sample collection It closes.
It is the sample that corresponding position data occurs that distortion has exception in the presence of abnormal position sample, it is fixed will affect vehicle The precision of position.There is abnormal position sample in position sample set by determining, and by there are different in position sample set Calibration sample set is obtained after normal position sample filtering.
Pass through the sample of every part of position sample and position sample set in position sample set in the presence of abnormal position sample Sample distance between mean value determines.The position sample that sample distance is greater than sample distance threshold is in the presence of abnormal position sample This.
Wherein, sample distance is the index for measuring two Sample Similarities, and sample is apart from smaller, between two samples Similarity it is higher, conversely, sample distance it is bigger, the similarity between two samples is smaller.
Sample distance threshold can be arranged according to concrete application scene or application demand.
Step S2333 determines the calibrating position coordinate of target vehicle according to calibration sample set.
Obtain the sample average of calibration sample set, the calibrating position coordinate as target vehicle.Wherein calibration sample collection The sample average of conjunction can be obtained by the methods of arithmetic mean law, middle position mean value method, geometrical mean method.
In addition, in the present embodiment, it can also be using the calibrating position coordinate of target vehicle as the calibration bits of Adjacent vehicles Set coordinate.
In this example, it is usually at a distance from the Adjacent vehicles of target vehicle and target vehicle within the scope of ten meter levels, such as mesh It marks vehicle and passes through the Adjacent vehicles that received near radio signal determines.By the calibrating position data of target vehicle, as mesh The calibrating position data of the Adjacent vehicles of vehicle are marked, location error can be controlled in ten meter level ranges, relative to Adjacent vehicles The location error obtained using such as GPS greatly improves the positioning accuracy of vehicle in the position data of hundred meter levels.Meanwhile It may not need the vehicle positioning method implemented again in the present embodiment to the Adjacent vehicles of target vehicle, save process resource, mention High treatment efficiency.
<server>
In the present embodiment, a kind of server 200 is also provided, as shown in Figure 9, comprising:
Memory 210, for storing executable instruction；
Processor 220, for the control according to executable instruction, runtime server executes provided in this embodiment any One vehicle positioning method.
In the present embodiment, server 200 can specific various entity forms.For example, server 200 can be cloud clothes Business device.Server 200 can also be server 1000 as shown in Figure 1.
It will be appreciated by those skilled in the art that server 200 can be realized by various modes.For example, can pass through Configuration processor is instructed to realize server 200.For example, instruction can be stored in the ROM, and when starting the device, it will Instruction is read in programming device from ROM realizes server 200.For example, server 200 can be cured to dedicated devices In (such as ASIC).Server 200 can be divided into mutually independent unit, or they can be merged to realization. Server 200 can be realized by one of above-mentioned various implementations, or can pass through above-mentioned various implementations In the combinations of two or more modes realize.
The vehicles management method and server provided in Detailed description of the invention the present embodiment is had been combined above, according to this implementation Example, by more parts of vehicle position datas and reference location data, determines corresponding more parts of position coordinates samples, according to more parts of positions Coordinate sample determines location error spatial distribution, can be for there are larger location errors according to location error spatial distribution Corresponding vehicle management is implemented in vehicle triggering, corresponding to promote vehicle management efficiency, improves the car experience of user.
<second embodiment>
In the present embodiment, a kind of vehicle management system 500 is provided, as shown in Figure 10, comprising:
Client 300；
Vehicle 400；
The server 200 that first embodiment provides.
In the present embodiment, vehicle management system 500 can be shared bicycle management system, shared motor vehicle management System etc..Vehicle management system 500 can also include other equipment, for example, the road used for positioning being arranged in by road is fixed Position equipment.The road positioning device is the equipment for being set on road and being used to position road particular geographic location, for example, bluetooth This kind of equipment with positioning function realized by close range wireless communication modes such as railway spike.In one example, vehicle is fixed Position system 500 hardware configuration can be as shown in Figure 1 Vehicular system 100.It will be to share certainly with vehicle management system 500 below For driving system, illustrate the vehicles management method that the vehicle management system 500 in the present embodiment is implemented.In this example, vehicle 400 be shared bicycle, is provided with intelligent bicycle lock on each shared bicycle, which supports Bluetooth communication, and should The vehicle position data of the available shared bicycle of GPS module is provided in intelligent bicycle lock；Server 200 is to support to share certainly Driving management, the cloud server that uses, client 300 are the mobile phones held using the user of shared bicycle, in the mobile phone It is provided with GPS module, for obtaining the location data for holding the user of mobile phone.
In this example, vehicle 400 can pass through what is be arranged in intelligent bicycle lock by when user terminates to be shut with vehicle GPS module obtains vehicle position data, is sent to server 200.
And client 300 be used by a user unlocking operation is executed to the vehicle two-dimensional code scanning of shared bicycle when, can To obtain location data by the GPS of itself, it is sent to server 200.
Server 200 can pass through the vehicle position data obtained from vehicle 400, the user position obtained from client 300 Data are set, the middle vehicles management method provided, determines location error spatial distribution according to first embodiment, according to location error sky Between be distributed, it is corresponding to promote vehicle management efficiency for there are the triggerings of the vehicle of larger location error to implement corresponding vehicle management, Improve the car experience of user.
In this example, vehicle 400 can also be received the bluetooth railway spike being arranged on neighbouring road by intelligent bicycle lock and be sent Bluetooth signal, vehicle 400 can be when being terminated by user using shutting, the bluetooth letter that sends from received bluetooth railway spike around It chooses the maximum Bluetooth signal of signal strength in number to be parsed, the device identification for obtaining corresponding bluetooth railway spike is sent to service Device, so that server is from the database of device location data for being stored with bluetooth railway spike, inquiry obtains setting for the bluetooth railway spike Standby position data, as reference location data.
Server 200 can pass through the vehicle position data that obtains from vehicle 400 and obtain device location data as ginseng After examining position data, the middle vehicles management method provided, determines location error spatial distribution, according to position according to first embodiment Error space distribution, it is corresponding to promote vehicle pipe for there are the triggerings of the vehicle of larger location error to implement corresponding vehicle management Efficiency is managed, the car experience of user is improved.
The present invention can be system, method and/or computer program product.Computer program product may include computer Readable storage medium storing program for executing, containing for making processor realize the computer-readable program instructions of various aspects of the invention.
Computer readable storage medium, which can be, can keep and store the tangible of the instruction used by instruction execution equipment Equipment.Computer readable storage medium for example can be-- but it is not limited to-- storage device electric, magnetic storage apparatus, optical storage Equipment, electric magnetic storage apparatus, semiconductor memory apparatus or above-mentioned any appropriate combination.Computer readable storage medium More specific example (non exhaustive list) includes: portable computer diskette, hard disk, random access memory (RAM), read-only deposits It is reservoir (ROM), erasable programmable read only memory (EPROM or flash memory), static random access memory (SRAM), portable Compact disk read-only memory (CD-ROM), digital versatile disc (DVD), memory stick, floppy disk, mechanical coding equipment, for example thereon It is stored with punch card or groove internal projection structure and the above-mentioned any appropriate combination of instruction.Calculating used herein above Machine readable storage medium storing program for executing is not interpreted that instantaneous signal itself, the electromagnetic wave of such as radio wave or other Free propagations lead to It crosses the electromagnetic wave (for example, the light pulse for passing through fiber optic cables) of waveguide or the propagation of other transmission mediums or is transmitted by electric wire Electric signal.
Computer-readable program instructions as described herein can be downloaded to from computer readable storage medium it is each calculate/ Processing equipment, or outer computer or outer is downloaded to by network, such as internet, local area network, wide area network and/or wireless network Portion stores equipment.Network may include copper transmission cable, optical fiber transmission, wireless transmission, router, firewall, interchanger, gateway Computer and/or Edge Server.Adapter or network interface in each calculating/processing equipment are received from network to be counted Calculation machine readable program instructions, and the computer-readable program instructions are forwarded, for the meter being stored in each calculating/processing equipment In calculation machine readable storage medium storing program for executing.
Computer program instructions for executing operation of the present invention can be assembly instruction, instruction set architecture (ISA) instructs, Machine instruction, machine-dependent instructions, microcode, firmware instructions, condition setup data or with one or more programming languages The source code or object code that any combination is write, programming language include object-oriented programming language-such as Smalltalk, C++ etc., and conventional procedural programming languages-such as " C " language or similar programming language.Computer-readable program refers to Order can be executed fully on the user computer, partly be executed on the user computer, as an independent software package Execute, part on the user computer part on the remote computer execute or completely on a remote computer or server It executes.In situations involving remote computers, remote computer can include local area network by the network-of any kind (LAN) or wide area network (WAN)-is connected to subscriber computer, or, it may be connected to outer computer (such as utilize internet Service provider is connected by internet).In some embodiments, by being believed using the state of computer-readable program instructions Breath comes personalized customization electronic circuit, such as programmable logic circuit, field programmable gate array (FPGA) or programmable logic Array (PLA), which can execute computer-readable program instructions, to realize various aspects of the invention.
Referring herein to according to the method for the embodiment of the present invention, the flow chart of device (system) and computer program product and/ Or block diagram describes various aspects of the invention.It should be appreciated that flowchart and or block diagram each box and flow chart and/ Or in block diagram each box combination, can be realized by computer-readable program instructions.
These computer-readable program instructions can be supplied to general purpose computer, special purpose computer or other programmable datas The processor of processing unit, so that a kind of machine is produced, so that these instructions are passing through computer or other programmable datas When the processor of processing unit executes, function specified in one or more boxes in implementation flow chart and/or block diagram is produced The device of energy/movement.These computer-readable program instructions can also be stored in a computer-readable storage medium, these refer to It enables so that computer, programmable data processing unit and/or other equipment work in a specific way, thus, it is stored with instruction Computer-readable medium then includes a manufacture comprising in one or more boxes in implementation flow chart and/or block diagram The instruction of the various aspects of defined function action.
Computer-readable program instructions can also be loaded into computer, other programmable data processing units or other In equipment, so that series of operation steps are executed in computer, other programmable data processing units or other equipment, to produce Raw computer implemented process, so that executed in computer, other programmable data processing units or other equipment Instruct function action specified in one or more boxes in implementation flow chart and/or block diagram.
The flow chart and block diagram in the drawings show the system of multiple embodiments according to the present invention, method and computer journeys The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation One module of table, program segment or a part of instruction, module, program segment or a part of instruction include one or more for real The executable instruction of logic function as defined in existing.In some implementations as replacements, function marked in the box can also be with Occur in a different order than that indicated in the drawings.For example, two continuous boxes can actually be basically executed in parallel, it Can also execute in the opposite order sometimes, this depends on the function involved.It is also noted that block diagram and/or process The combination of each box in figure and the box in block diagram and or flow chart, can as defined in executing function or movement Dedicated hardware based system is realized, or can be realized using a combination of dedicated hardware and computer instructions.For this It is well known that, realized by hardware mode for the technical staff of field, software and hardware is realized and passed through by software mode In conjunction with mode realize it is all of equal value.
Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill Many modifications and changes are obvious for the those of ordinary skill in art field.The selection of term used herein, purport In principle, the practical application or to the technological improvement in market for best explaining each embodiment, or make the art its Its those of ordinary skill can understand each embodiment disclosed herein.The scope of the present invention is defined by the appended claims.

Claims (14)

1. a kind of vehicles management method, wherein pass through server implementation, comprising:
According to the more parts of vehicle position datas and more parts of reference location datas obtained, more parts of position coordinates samples are obtained；
Wherein, reference location data be other locating modules outside the locating module by vehicle itself obtain with locating for vehicle The relevant data in geographical location, every part of position coordinates sample include vehicle location coordinate and with the vehicle location sit Mark corresponding reference position coordinate；
According to the more parts of position coordinates samples, location error spatial distribution is determined；
Wherein, the location error spatial distribution is that there are the position coordinates samples of location error in geographical space Distribution；
According to the location error spatial distribution, vehicle management is implemented in triggering.
2. according to the method described in claim 1, wherein,
The reference location data includes location data；The method also includes:
Terminate in vehicle in use, obtaining the vehicle position data of the vehicle；
And when user begins to use the vehicle, the corresponding location data is obtained；
And/or
The reference location data includes the device location data of road positioning device；The method also includes:
Vehicle terminate in use, obtain the vehicle the vehicle position data and road corresponding with the vehicle it is fixed The device location data of position equipment.
3. according to the method described in claim 1, wherein, the step of more parts of position coordinates samples of the acquisition, includes:
Respectively to vehicle position data described in every part, determine that there are the associated reference location datas；
The vehicle location coordinate is obtained according to vehicle position data described in every part respectively, and according to vehicle location described in this There are the associated reference location datas for data, obtain reference position corresponding with vehicle location coordinate described in this and sit Mark, obtains the position coordinates sample, obtains the more parts of position coordinates samples with this.
4. according to the method described in claim 3, wherein,
The reference location data includes location data；
It is described respectively to vehicle position data described in every part, determining that there are the step of associated reference location data to include:
To vehicle position data described in every part, in the user of the user using the corresponding vehicle of the vehicle position data In position data, choose it is corresponding obtain the moment and meet the location data of preset association in time condition, as with There are the associated reference location datas for the vehicle position data；
And/or the reference location data includes device location data；
It is described respectively to vehicle position data described in every part, determining that there are the step of associated reference location data to include:
To vehicle position data described in every part, the nearest road of vehicle distances corresponding with the vehicle position data is chosen The device location data of positioning device, as there are the associated reference location datas with the vehicle position data.
5. according to the method described in claim 4, wherein,
The association in time condition is, when the acquisition moment of the reference location data is the acquisition of the vehicle position data After quarter, and the time difference of the two is in preset duration.
6. it is described according to the more parts of position coordinates samples according to the method described in claim 1, wherein, determine location error The step of spatial distribution includes:
To each position coordinates sample, the error distance of the position coordinates sample is obtained；
The error distance is greater than to the position coordinates sample of error distance threshold value, is determined as described there are location error The position coordinates sample；
According to described there are the vehicle location coordinate of the position coordinates sample of location error, the location error is determined Spatial distribution.
7. according to the method described in claim 6, wherein,
It is described to each position coordinates sample, the step of obtaining the error distance of the position coordinates sample includes:
According to the vehicle location coordinate and the reference position coordinate of the position coordinates sample, determine that position deviation is joined Number；
According to the position deviation parameter and earth radius, the error distance is determined；
And/or
It is described to each position coordinates sample, the step of obtaining the error distance of the position coordinates sample includes:
According to the vehicle location coordinate and the reference position coordinate of the position coordinates sample, obtain between the two Manhatton distance or Chebyshev's distance, as the error distance.
8. according to the method described in claim 6, wherein,
The vehicle location coordinate of the position coordinates sample and the user location coordinate are that the position based on different coordinates is sat Mark；
Before the error distance step for obtaining the position coordinates sample further include:
According to preset target-based coordinate system, the vehicle location coordinate and the user location coordinate are handled, obtained The vehicle location coordinate and the user location coordinate based on the preset target-based coordinate system, to obtain the position The error distance of coordinate sample.
9. method according to any one of claims 1 to 8, wherein
The vehicle management is calibrated including at least vehicle location；
It is described according to the location error spatial distribution, the step of vehicle management is implemented in triggering includes:
In the corresponding geographical space of the location error spatial distribution, determine that there are the vehicle alignments of vehicle location calibration requirements Region；
Target vehicle is chosen in the vehicle alignment region；
According to the target vehicle and the vehicle position data of the Adjacent vehicles of the target vehicle, to the target vehicle into Driving position correction, obtains the calibrating position coordinate of the target vehicle.
10. according to the method described in claim 9, wherein,
It is described in the corresponding geographical space of the location error spatial distribution, determine there are the vehicles of vehicle location calibration requirements The step of calibration region includes:
The geographical space is divided to obtain multiple geographic areas；
Obtain that each geographic area includes described there are the numbers of samples of the position coordinates sample of location error；
The number of samples is greater than to the geographic area of preset quantity threshold, is determined as the vehicle alignment region.
11. according to the method described in claim 9, wherein, the step that target vehicle is chosen in the vehicle alignment region Suddenly include:
The corresponding vehicle of the maximum position coordinates sample of error distance in the vehicle alignment region is chosen, as the mesh Mark vehicle.
12. according to the method described in claim 9, wherein, the phase according to the target vehicle and the target vehicle The vehicle position data of adjacent vehicle calibrates the vehicle position data of the target vehicle, the vehicle position after being calibrated The step of setting data include:
According to the target vehicle and and the target vehicle Adjacent vehicles vehicle position data, obtain include more parts of positions Set the position sample set of sample；
Wherein, every part of position sample includes the vehicle location coordinate obtained according to a vehicle position data；
It determines in the position sample set and there is the abnormal position sample and filter, obtain calibration sample set；
According to the calibration sample set, the calibrating position coordinate of the target vehicle is determined.
13. a kind of server, wherein include:
Memory, for storing executable instruction；
Processor runs the server and executes such as claim 1-12 institute for the control according to the executable instruction The vehicles management method for any one stated.
14. a kind of vehicle management system, wherein include: vehicle；
Client；
And server as claimed in claim 13.
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Cited By (6)

* Cited by examiner, † Cited by third party
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CN109509342A (en) * 2018-12-13 2019-03-22 成都三柚科技有限公司 A kind of vehicle parking method, apparatus, electronic equipment and storage medium
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CN111861621A (en) * 2019-12-30 2020-10-30 北京骑胜科技有限公司 Order processing method and device, electronic equipment and storage medium
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CN111815938A (en) * 2019-11-22 2020-10-23 北京嘀嘀无限科技发展有限公司 Control method and device for sharing vehicle positioning, storage medium and electronic equipment
CN111861621A (en) * 2019-12-30 2020-10-30 北京骑胜科技有限公司 Order processing method and device, electronic equipment and storage medium
CN113160548A (en) * 2020-01-23 2021-07-23 宝马股份公司 Method, device and vehicle for automatic driving of vehicle
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CN112132725A (en) * 2020-08-25 2020-12-25 摩拜(北京)信息技术有限公司 Vehicle returning judgment method and device and electronic equipment
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CN112637766A (en) * 2020-12-23 2021-04-09 浙江泺平信息技术有限公司 Returning method and system for sharing electric bicycle

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