CN109000677A - A kind of intelligent vehicle-carrying navigation system - Google Patents
A kind of intelligent vehicle-carrying navigation system Download PDFInfo
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- CN109000677A CN109000677A CN201810962066.7A CN201810962066A CN109000677A CN 109000677 A CN109000677 A CN 109000677A CN 201810962066 A CN201810962066 A CN 201810962066A CN 109000677 A CN109000677 A CN 109000677A
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides a kind of intelligent vehicle-carrying navigation systems, including locating module, time prediction module, path planning module and navigation module, the locating module is used to determine the exact position of vehicle, the time prediction module is for predicting vehicle travel time, the path planning module is for determining that vehicle driving optimal path, the navigation module navigate according to vehicle real time position, Forecasting of Travel Time result and optimal path.The invention has the benefit that providing a kind of intelligent vehicle-carrying navigation system, based on vehicle accurate positioning, Forecasting of Travel Time and optimal route selection, vehicle precision navigation is realized.
Description
Technical field
The present invention relates to field of navigation technology, and in particular to a kind of intelligent vehicle-carrying navigation system.
Background technique
With the continuous quickening of countries in the world expanding economy and urbanization process, urban transportation is also grown rapidly therewith,
It is greatly promoted the raising of social progress and people's quality of life.But the sharp increase and city due to vehicle fleet size are handed over
The limitation of logical infrastructure construction, imbalance between supply and demand between the two increasingly highlight, and traffic problems have become countries in the world government
One of matter of utmost importance faced.
Onboard navigation system is the important component part of Traffic Systems, the advanced GIS, GPS of integrated use, existing
A variety of advanced technologies such as generation communication, by being acquired fusion to a variety of data of traffic flow, processing is excavated, comprehensive analysis, is
The manager of traffic system and vast traveler provide real-time, accurate, dynamic traffic information, go on a journey to traffic participant
Path in preceding or trip carries out scientific and reasonable induction, prevents or mitigates the traffic congestion in city, realizes traffic flow entire
Reasonable distribution on each section in road network.
Summary of the invention
In view of the above-mentioned problems, the present invention is intended to provide a kind of intelligent vehicle-carrying navigation system.
The purpose of the present invention is realized using following technical scheme:
It provides a kind of intelligent vehicle-carrying navigation system, including locating module, time prediction module, path planning module and leads
Model plane block, the locating module are used to determine the exact position of vehicle, and the time prediction module is used for vehicle travel time
It is predicted, the path planning module is for determining vehicle driving optimal path, and the navigation module is according to the real-time position of vehicle
It sets, Forecasting of Travel Time result and optimal path are navigated.
The invention has the benefit that a kind of intelligent vehicle-carrying navigation system is provided, when based on vehicle accurate positioning, stroke
Between predict and optimal route selection, realize vehicle precision navigation.
Optionally, the locating module includes Primary Location module, error measurement module and pinpoint module, at the beginning of described
Step locating module determines the initial position of vehicle by pseudorange, and the error measurement module is for determining that pseudorange calculates error, institute
State the exact position that pinpoint module determines vehicle based on vehicle initial position and pseudorange measuring and calculating error.
Optionally, the Primary Location module determines the rough location of vehicle by pseudorange, specifically: a GPS is connect
Receipts machine is installed on vehicle, and determines vehicle initial position by following formula:
In formula, diPseudorange of the expression vehicle to i-th of satellite, i=1,2,3,4, (x, y, z) indicates vehicle rough location,
(xi, yi, zi) indicate that i-th of satellite position, c indicate the light velocity, tiIndicate the clock deviation amendment of i-th of satellite, t indicates receiver
Clock deviation.
Optionally, the error measurement module is used to determine that pseudorange to calculate error, specifically: two GPS receiver are pacified
Mounted in two base stations A and B, it is known that the physical location of two base stations is respectively (X1, Y1, Z1)、(X2, Y2, Z2), according to pseudorange
The position for two base stations that measure formula determines is respectively (X3, Y3, Z3)、(X4, Y4, Z4), determine that pseudorange is calculated by following formula
Error:
In formula, W1Indicate that pseudorange calculates error.
Optionally, the pinpoint module determines the accurate position of vehicle based on vehicle initial position and pseudorange measuring and calculating error
It sets, specifically: the exact position (x of vehicle is determined by following formula0, y0, z0): (x0, y0, z0)=W1+ (x, y, z).
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings, but the embodiment in attached drawing is not constituted to any limit of the invention
System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings
Other attached drawings.
Fig. 1 is structural schematic diagram of the invention；
Appended drawing reference:
Locating module 1, time prediction module 2, path planning module 3, navigation module 4.
Specific embodiment
The invention will be further described with the following Examples.
Referring to Fig. 1, a kind of intelligent vehicle-carrying navigation system of the present embodiment, including locating module 1, time prediction module 2, road
Diameter planning module 3 and navigation module 4, the locating module 1 are used to determine the exact position of vehicle, the time prediction module 2
For predicting vehicle travel time, the path planning module 3 is for determining vehicle driving optimal path, the navigation
Module 4 is navigated according to vehicle real time position, Forecasting of Travel Time result and optimal path.
A kind of intelligent vehicle-carrying navigation system is present embodiments provided, is accurately positioned based on vehicle, Forecasting of Travel Time and most
Shortest path selection, realizes vehicle precision navigation.
Preferably, the locating module 1 includes Primary Location module, error measurement module and pinpoint module, described
Primary Location module determines the initial position of vehicle by pseudorange, and the error measurement module is used to determine that pseudorange to calculate error,
The pinpoint module determines the exact position of vehicle based on vehicle initial position and pseudorange measuring and calculating error；
The Primary Location module determines the rough location of vehicle by pseudorange, specifically: a GPS receiver is installed
On vehicle, vehicle initial position is determined by following formula:
In formula, diPseudorange of the expression vehicle to i-th of satellite, i=1,2,3,4, (x, y, z) indicates vehicle rough location,
(xi, yi, zi) indicate that i-th of satellite position, c indicate the light velocity, tiIndicate the clock deviation amendment of i-th of satellite, t indicates receiver
Clock deviation；
The error measurement module is used to determine that pseudorange to calculate error, specifically: two GPS receiver are mounted on two
Base station A and B, it is known that the physical location of two base stations is respectively (X1, Y1, Z1)、(X2, Y2, Z2), according to pseudorange measure formula
The position of two determining base stations is respectively (X3, Y3, Z3)、(X4, Y4, Z4), determine that pseudorange calculates error by following formula:
In formula, W1Indicate that pseudorange calculates error；
The pinpoint module determines the exact position of vehicle based on vehicle initial position and pseudorange measuring and calculating error, specifically
Are as follows: the exact position (x of vehicle is determined by following formula0, y0, z0): (x0, y0, z0)=W1+ (x, y, z)；
This preferred embodiment determines pseudo range measurement error by the way that two base stations are arranged, and improves vehicle location precision, is
Subsequent vehicle navigation is laid a good foundation；
Preferably, the time prediction module 2 includes prediction module and evaluation module, and the prediction module is for obtaining vehicle
Forecasting of Travel Time as a result, the evaluation module for evaluating prediction result；
The prediction module specially assumes there is identical historical trend for obtaining vehicle travel time prediction result
There is identical journey time in each section in the identical period in one day, is carried out using journey time of the following formula to vehicle pre-
It surveys:
tI, m(n)=0.1+ ρ t 'I, m+(1-ρ)tI, m(o)
In formula, tI, m(n) indicate section i in the Forecasting of Travel Time value that time interval is m, tI, m(o) indicate section i when
Between between be divided into the history journey time numerical value of m, t 'I, mIndicate section i in the nearest journey time numerical value that time interval is m, ρ
Indicate smoothing factor, ρ ∈ (0,1)；
The evaluation module is used to evaluate prediction result, specifically: it is calculate by the following formula Forecasting of Travel Time knot
The dilution of precision of fruit:
In formula, P indicates the dilution of precision of Forecasting of Travel Time result, y1Indicate Forecasting of Travel Time value, y2When indicating stroke
Between measured value；The dilution of precision of the Forecasting of Travel Time result is bigger, indicates that Forecasting of Travel Time is more accurate；
This preferred embodiment predicts journey time by history journey time, realize journey time prediction and
Assessment, ensure that the accuracy of prediction, lay a good foundation for subsequent vehicle navigation.
Preferably, the path planning module 3 includes road network modeling module and module is chosen in path, and the road network models mould
Block chooses module and is based on traffic network model selection optimal path for establishing traffic network model, the path；
The road network modeling module is used to establish traffic network model, specifically: traffic network, section are indicated using non-directed graph
Point indicates the crossing in road network, and the side between node indicates the section in road network, determines the road road network Zhong Meitiao in the following ways
The weight on road:
Calculate the section factor in each section:
In formula, liIndicate the section factor in i-th of section, a1Indicate that the maximum vehicle of section unit time passes through number, a2Table
Show the number that traffic accident occurs in section 1 year, a3Indicate pavement behavior quantized value, a3=3, road surface is pitch, a3=2, road
Face is cement, a3=1, road surface is soil property, a4Indicate section billing unit mileage charge；
Corresponding weight is determined according to the section factor in each section:
In formula, qiIndicate the weight in i-th of section, fiIndicate the length in i-th of section, n indicates the number in section in road network
Amount；
The path chooses module and is based on traffic network model selection optimal path, specifically: it is the smallest to choose total weight
Section is as optimal path.
During this preferred embodiment determines section weight, fully consider that frequency occurs for the traffic capacity in section, accident
Rate, pavement behavior and charge situation, have obtained accurate section weight, ensure that the optimal selection in path.
It is navigated using intelligent vehicle-carrying navigation system of the present invention, selectes departure place, choose 5 destinations and tested,
Respectively destination 1, destination 2, destination 3, destination 4, destination 5 count navigation efficiency and navigation accuracy,
It is compared compared with navigation system, generation has the beneficial effect that shown in table:
Through the above description of the embodiments, those skilled in the art can be understood that it should be appreciated that can
To realize the embodiments described herein with hardware, software, firmware, middleware, code or its any appropriate combination.For hardware
It realizes, processor can be realized in one or more the following units: specific integrated circuit (ASIC), digital signal processor
(DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), processing
Device, controller, microcontroller, microprocessor, other electronic units designed for realizing functions described herein or combinations thereof.
For software implementations, some or all of embodiment process can instruct relevant hardware to complete by computer program.
When realization, above procedure can be stored in computer-readable medium or as the one or more on computer-readable medium
Instruction or code are transmitted.Computer-readable medium includes computer storage media and communication media, wherein communication media packet
It includes convenient for from a place to any medium of another place transmission computer program.Storage medium can be computer can
Any usable medium of access.Computer-readable medium can include but is not limited to RAM, ROM, EEPROM, CD-ROM or other
Optical disc storage, magnetic disk storage medium or other magnetic storage apparatus or can be used in carry or store have instruction or data
The desired program code of structure type simultaneously can be by any other medium of computer access.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of range is protected, although explaining in detail referring to preferred embodiment to the present invention, those skilled in the art are answered
Work as understanding, it can be with modification or equivalent replacement of the technical solution of the present invention are made, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (8)
1. a kind of intelligent vehicle-carrying navigation system, which is characterized in that including locating module, time prediction module, path planning module
And navigation module, the locating module are used to determine the exact position of vehicle, the time prediction module is used for vehicle travel
Time is predicted that the path planning module is for determining vehicle driving optimal path, and the navigation module is according to vehicle reality
When position, Forecasting of Travel Time result and optimal path navigate.
2. intelligent vehicle-carrying navigation system according to claim 1, which is characterized in that the locating module includes Primary Location
Module, error measurement module and pinpoint module, the Primary Location module determine the initial position of vehicle, institute by pseudorange
Error measurement module is stated for determining that pseudorange calculates error, the pinpoint module is based on vehicle initial position and pseudorange is calculated
Error determines the exact position of vehicle.
3. intelligent vehicle-carrying navigation system according to claim 2, which is characterized in that the Primary Location module passes through pseudorange
Determine the rough location of vehicle, specifically: a GPS receiver is installed on vehicle, vehicle initial bit is determined by following formula
It sets:
In formula, diPseudorange of the expression vehicle to i-th of satellite, i=1,2,3,4, (x, y, z) indicates vehicle rough location, (xi,
yi, zi) indicate that i-th of satellite position, c indicate the light velocity, tiIndicate the clock deviation amendment of i-th of satellite, t indicates the clock deviation of receiver.
4. intelligent vehicle-carrying navigation system according to claim 3, which is characterized in that the error measurement module is for determining
Pseudorange calculates error, specifically: two GPS receiver are mounted on two base stations A and B, it is known that the reality of two base stations
Position is respectively (X1, Y1, Z1)、(X2, Y2, Z2), the position of two base stations determined according to pseudorange measure formula is respectively
(X3, Y3, Z3)、(X4, Y4, Z4), determine that pseudorange calculates error by following formula:
In formula, W1Indicate that pseudorange calculates error.
5. intelligent vehicle-carrying navigation system according to claim 4, which is characterized in that the pinpoint module is based on vehicle
Initial position and pseudorange measuring and calculating error determine the exact position of vehicle, specifically: the exact position of vehicle is determined by following formula
(x0, y0, z0): (x0, y0, z0)=W1+ (x, y, z).
6. intelligent vehicle-carrying navigation system according to claim 5, which is characterized in that the time prediction module includes prediction
Module and evaluation module, the prediction module are used for for obtaining vehicle travel time prediction result, the evaluation module to pre-
Result is surveyed to be evaluated.
7. intelligent vehicle-carrying navigation system according to claim 6, which is characterized in that the prediction module is for obtaining vehicle
Forecasting of Travel Time is as a result, be specially that each section is assumed to have in one day of identical historical trend to have phase in the identical period
Same journey time, is predicted using journey time of the following formula to vehicle:
ti,m(n)=0.1+ ρ t 'i,m+(1-ρ)ti,m(o)
In formula, ti,m(n) indicate section i in the Forecasting of Travel Time value that time interval is m, ti,m(o) indicate section i between the time
It is divided into the history journey time numerical value of m, t 'i,mSection i is indicated in the nearest journey time numerical value that time interval is m, ρ is indicated
Smoothing factor, ρ ∈ (0,1).
8. intelligent vehicle-carrying navigation system according to claim 7, which is characterized in that the evaluation module is used to tie prediction
Fruit is evaluated, specifically: it is calculate by the following formula the dilution of precision of Forecasting of Travel Time result:
In formula, P indicates the dilution of precision of Forecasting of Travel Time result, y1Indicate Forecasting of Travel Time value, y2Indicate that journey time is real
Measured value；The dilution of precision of the Forecasting of Travel Time result is bigger, indicates that Forecasting of Travel Time is more accurate.
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| CN201810962066.7A CN109000677A (en) | 2018-08-22 | 2018-08-22 | A kind of intelligent vehicle-carrying navigation system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113859265A (en) * | 2021-09-30 | 2021-12-31 | 国汽智控(北京)科技有限公司 | Reminding method and device in driving process |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113859265A (en) * | 2021-09-30 | 2021-12-31 | 国汽智控(北京)科技有限公司 | Reminding method and device in driving process |
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