CN109443370A - A method of deviate detection track - Google Patents
A method of deviate detection track Download PDFInfo
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- CN109443370A CN109443370A CN201811067073.7A CN201811067073A CN109443370A CN 109443370 A CN109443370 A CN 109443370A CN 201811067073 A CN201811067073 A CN 201811067073A CN 109443370 A CN109443370 A CN 109443370A
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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
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
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- General Physics & Mathematics (AREA)
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Abstract
The present invention relates to a kind of method that detection track is deviateed, whether existing net about vehicle, which passes through GPS positioning according to the judgement of programme path in the process of moving, can not make correct judgement.In order to solve problem above, a method of deviate detection track, the following steps are included: step 1: choosing adjacent coordinate points A point and B point in real time, route L is set as with A point and B point straight line, step 2: calculating the minimum distance set of each line segment of the real time position P to route L of vehicle, the minimum value in set is found out；Step 3: the threshold value comparison of minimum value and setting if it is greater than the threshold value of setting, is then determined off-track, if it is less than the threshold value of setting, then determine without departing from track.The method that detection track provided by the invention is deviateed can accurately judge whether the traveling of net about vehicle deviates from programme path.
Description
Technical field
The invention belongs to net about vehicles whether to press navigation path traveling, be related to the method that a kind of detection track is deviateed.
Background technique
For passenger when calling a taxi, cell phone map can provide best route, but in actual travel, and driver is intentionally or nothing
Meaning without at this time needing that driver and passenger is reminded to offset by programme path by the route running set.Generally for being
The no programme path that deviates is the GPS positioning by vehicle, sees positioning whether on the route of planning, still, GPS navigation positioning is wrapped
Include following six kinds of errors: ephemeris error-gives the error of the satellite position of report；Star clock deviation-gives the satellite clock correction of report, including
SA；The error of ionospheric error-observation due to caused by ionospheric effect；Tropospheric error-is drawn due to tropospheric
The error of the observation risen；Multipath error-enters the error of observation caused by receiver antenna due to reflection signal；It receives
Chance error is poor-the observation error due to caused by the deviation between thermal noise, software and each channel.Orientation distance error is at least
15 meters.But sometimes due to the strong and weak variation of signal, this number may reach 20-30 meters.In addition, if GPS receiver equipment is too clever
It is quick, it may appear that drift, this drift will be bigger, sometimes to hundred meters or more.So whether driving vehicle positioning is being planned
On path, this mode can only can not also determine whether off-track as reference.
Summary of the invention
1, technical problem to be solved:
Whether existing net about vehicle can not be made correctly according to the judgement of programme path by GPS positioning in the process of moving
Judgement.
2, technical solution:
In order to solve problem above, a method of deviate detection track, comprising the following steps: step 1: choosing in real time
Adjacent coordinate points A point and B point and A point and B point straight line are set as route L, step 2: calculating the real time position P of vehicle to route
The minimum distance set of each line segment of L finds out the minimum value in set；Step 3: by the threshold value comparison of minimum value and setting,
If it is greater than the threshold value of setting, then off-track is determined, if it is less than the threshold value of setting, then determine without departing from track.It calculates
The calculation method of the shortest distance of the current coordinate point apart from one of line segment are as follows: the vertical line on current point P to AB line
(1) ifOn AB line segment, thenThe shortest distance of the current point to AB line segment, (2) ifOutside AB line segment, respectively
P point is calculated to A, the distance of B point takes the minimum shortest distance；If
Wherein x is longitude coordinate, and y is latitude coordinate, AB slope:Slope:AB straight line:Straight line:It solvesCalculate the most short distance of every line segment
From finding out shortest range points.
3, the utility model has the advantages that
The method that detection track provided by the invention is deviateed can accurately judge whether the traveling of net about vehicle deviates from rule
Draw route.
Detailed description of the invention
Fig. 1 is the principle of the present invention figure.
Specific embodiment
It is next with reference to the accompanying drawings and examples that the present invention is described in detail.
A method of deviate detection track, comprising the following steps: step 1: choosing adjacent coordinate points A point and B in real time
Point and A point and B point straight line are set as route L, step 2: calculating the nearest of each line segment of the real time position P to route L of vehicle
Distance set finds out the minimum value in set；Step 3: by the threshold value comparison of minimum value and setting, if it is greater than the threshold of setting
Value, then determine off-track, if it is less than the threshold value of setting, then determines without departing from track.Real-time detection driver's changing coordinates
The shortest distance of route of the point apart from this planning, in certain threshold value, so that it may think that driver is expert at by the route of planning
It sails, so the solution provided is: route is the set of coordinate points, and the set of the line segment of two adjacent points can be drawn
Travel route out, as long as finding out so calculate the shortest distance set of each line segment of the current point apart from this travel route
Minimum value in set, then the threshold value comparison with setting, can judging result.
Embodiment 1
Given threshold is 20 meters
The route set can be provided to navigating when calling a taxi, the coordinate point set of available route, in the process of moving,
Per every few seconds, shortest distance point of the current driver apart from this route is calculated, if shortest distance point is greater than 20 meters, so that it may
Think that driver is not travelled by programme path.
Embodiment 2
Given threshold is 30 meters.
The route set can be provided to navigating when calling a taxi, the coordinate point set of available route, in the process of moving,
Per every few seconds, shortest distance point of the current driver apart from this route is calculated, as shown in Figure 1, working as continuous P1And P2Point is most
Short distance point is greater than 30 meters, so that it may think that driver is not travelled by programme path, if P1The shortest distance of point is greater than 30 meters,
P2The shortest distance o'clock of point is less than 30 meters, it is believed that driver is travelled by programme path.
Although the present invention has been described by way of example and in terms of the preferred embodiments, they be not it is for the purpose of limiting the invention, it is any ripe
This those skilled in the art is practised, without departing from the spirit and scope of the invention, can make various changes or retouch from working as, therefore guarantor of the invention
Shield range should be subject to what claims hereof protection scope was defined.
Claims (3)
1. a kind of method that detection track is deviateed, comprising the following steps: step 1: choosing adjacent coordinate points A point and B in real time
Point and A point and B point straight line are set as route L, step 2: calculating the nearest of each line segment of the real time position P to route L of vehicle
Distance set finds out the minimum value in set；Step 3: by the threshold value comparison of minimum value and setting, if it is greater than the threshold of setting
Value, then determine off-track, if it is less than the threshold value of setting, then determines without departing from track.
2. the method as described in claim 1, it is characterised in that: calculate most short distance of the current coordinate point apart from one of line segment
From calculation method are as follows: the vertical line on current point P to AB line(1) ifOn AB line segment, thenIt is current point to AB line
Section the shortest distance, (2) ifOutside AB line segment, P point is being calculated separately to A, the distance of B point takes the minimum shortest distance；IfWherein x is longitude coordinate, and y is latitude coordinate, AB slope: Slope:AB straight line: Straight line:It solvesThe shortest distance for calculating every line segment finds out shortest range points.
3. method according to claim 1 or 2, it is characterised in that: the threshold value is 20-30 meters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811067073.7A CN109443370A (en) | 2018-09-13 | 2018-09-13 | A method of deviate detection track |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811067073.7A CN109443370A (en) | 2018-09-13 | 2018-09-13 | A method of deviate detection track |
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| CN109443370A true CN109443370A (en) | 2019-03-08 |
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| CN201811067073.7A Pending CN109443370A (en) | 2018-09-13 | 2018-09-13 | A method of deviate detection track |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110986980A (en) * | 2019-11-28 | 2020-04-10 | 北京百度网讯科技有限公司 | Planned route detection method and device and electronic equipment |
| CN111027653A (en) * | 2019-12-05 | 2020-04-17 | 上海凯京信达科技集团有限公司 | Electronic seal control system, method, computer storage medium and electronic device |
| CN111829525A (en) * | 2020-07-22 | 2020-10-27 | 深圳市微能信息科技有限公司 | UWB (ultra wide band) indoor and outdoor integrated intelligent navigation positioning method and system |
| CN112240770A (en) * | 2020-10-15 | 2021-01-19 | 浙江欣奕华智能科技有限公司 | Method, device and terminal for generating robot motion trail |
| CN112632450A (en) * | 2020-12-30 | 2021-04-09 | 中国电子科技集团公司电子科学研究院 | Wide-area space abnormal track identification method and device and readable storage medium |
| CN112785062A (en) * | 2021-01-26 | 2021-05-11 | 余嘉娴 | Logistics transportation path planning system based on big data |
| CN112817259A (en) * | 2019-10-29 | 2021-05-18 | 鸿富锦精密工业（深圳）有限公司 | Control method, monitoring equipment and transportation system for unmanned logistics vehicle |
| CN113670325A (en) * | 2021-08-20 | 2021-11-19 | 联通智网睿行科技(北京)有限公司 | Path deviation detection method and system and electronic equipment |
| CN113902210A (en) * | 2021-10-22 | 2022-01-07 | 南京领行科技股份有限公司 | Network appointment vehicle yaw detection method and device, electronic equipment and storage medium |
| CN114550402A (en) * | 2022-03-02 | 2022-05-27 | 福建至简至一信息科技有限公司 | Method for alarming goods stealing and changing behavior in logistics transportation in planned route |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112817259A (en) * | 2019-10-29 | 2021-05-18 | 鸿富锦精密工业（深圳）有限公司 | Control method, monitoring equipment and transportation system for unmanned logistics vehicle |
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| CN110986980A (en) * | 2019-11-28 | 2020-04-10 | 北京百度网讯科技有限公司 | Planned route detection method and device and electronic equipment |
| CN111027653A (en) * | 2019-12-05 | 2020-04-17 | 上海凯京信达科技集团有限公司 | Electronic seal control system, method, computer storage medium and electronic device |
| CN111027653B (en) * | 2019-12-05 | 2023-12-19 | 上海斑马来拉物流科技有限公司 | Electronic seal control system, method, computer storage medium and electronic equipment |
| CN111829525A (en) * | 2020-07-22 | 2020-10-27 | 深圳市微能信息科技有限公司 | UWB (ultra wide band) indoor and outdoor integrated intelligent navigation positioning method and system |
| CN112240770A (en) * | 2020-10-15 | 2021-01-19 | 浙江欣奕华智能科技有限公司 | Method, device and terminal for generating robot motion trail |
| CN112632450A (en) * | 2020-12-30 | 2021-04-09 | 中国电子科技集团公司电子科学研究院 | Wide-area space abnormal track identification method and device and readable storage medium |
| CN112785062B (en) * | 2021-01-26 | 2023-12-05 | 源发科技(唐山市海港区)有限责任公司 | Logistics transportation path planning system based on big data |
| CN112785062A (en) * | 2021-01-26 | 2021-05-11 | 余嘉娴 | Logistics transportation path planning system based on big data |
| CN113670325A (en) * | 2021-08-20 | 2021-11-19 | 联通智网睿行科技(北京)有限公司 | Path deviation detection method and system and electronic equipment |
| CN113902210A (en) * | 2021-10-22 | 2022-01-07 | 南京领行科技股份有限公司 | Network appointment vehicle yaw detection method and device, electronic equipment and storage medium |
| CN114550402A (en) * | 2022-03-02 | 2022-05-27 | 福建至简至一信息科技有限公司 | Method for alarming goods stealing and changing behavior in logistics transportation in planned route |
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