CN110579619B - Vehicle speed measuring and positioning method and device and electronic equipment - Google Patents

Vehicle speed measuring and positioning method and device and electronic equipment Download PDF

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Publication number
CN110579619B
CN110579619B CN201810580600.8A CN201810580600A CN110579619B CN 110579619 B CN110579619 B CN 110579619B CN 201810580600 A CN201810580600 A CN 201810580600A CN 110579619 B CN110579619 B CN 110579619B
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vehicle
running speed
acceleration
speed
obstacle
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CN110579619A (en
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赵晖
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Alibaba China Co Ltd
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Alibaba China Co Ltd
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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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance

Abstract

The embodiment of the invention provides a vehicle speed measuring and positioning method and device and electronic equipment. The vehicle speed measuring method comprises the following steps: continuously acquiring the acceleration of the vehicle in the vertical direction; according to the acceleration of the vehicle in the vertical direction, recognizing the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle; calculating a time length between a vibration time point of the front wheels of the vehicle passing through the obstacle and a vibration time point of the rear wheels passing through the obstacle; and acquiring a vehicle wheel base, and dividing the vehicle wheel base by the time length to obtain a first running speed of the vehicle. According to the embodiment of the invention, the change condition of the acceleration of the vehicle in the vertical direction is acquired by using the inertial sensor of the navigation equipment, the vibration information generated when the vehicle passes through an obstacle is detected, and more accurate vehicle running speed is acquired through the time difference of the vibration of the front wheel and the rear wheel of the vehicle, so that more accurate vehicle positioning is realized.

Description

Vehicle speed measuring and positioning method and device and electronic equipment
Technical Field
The invention relates to the technical field of computers, in particular to a vehicle speed measuring and positioning method and device and electronic equipment.
Background
Vehicle Dead Reckoning (VDR) technology estimates the current position of a Vehicle by combining the speed and the heading based on the position of the Vehicle measured last time. The existing navigation device uses VDR technology, and uses a Global Positioning System (GPS) and an inertial sensor to perform fusion positioning of a vehicle.
Under the existing technical conditions, the GPS positioning can only work normally if at least four satellites are in the view field of the GPS receiving module. In the urban environment where the GPS navigation precision is crucial, the sky sight is often blocked, and the GPS signals reflected by high-rise buildings cause serious multipath effect, thereby reducing the signal quality of the GPS. In a tunnel or an underground parking lot, GPS positioning cannot work due to GPS signal loss.
In the case where the GPS signal is weakened or absent, the navigation apparatus estimates the vehicle speed by an acceleration sensor (i.e., an accelerometer), calculates the heading by a sensor such as a gyroscope, and then estimates the current position of the vehicle.
In the process of implementing the invention, the inventor finds that the prior art has at least the following problems: under the scene that the absolute speed of the vehicle cannot be obtained through the GPS signal, the real-time vehicle speed can be estimated only through the change of the horizontal acceleration, and the measurement of the horizontal acceleration is easily influenced by centripetal acceleration caused by vibration, uphill and downhill and turning. Therefore, the estimation accuracy of the vehicle speed is low.
Disclosure of Invention
The embodiment of the invention provides a vehicle speed measuring and positioning method and device and electronic equipment, aiming at solving the defect of low speed calculation precision under the condition that GPS signals are weakened or lost in the prior art and improving the speed calculation precision.
In order to achieve the above object, an embodiment of the present invention provides a vehicle speed measurement method, including:
continuously acquiring the acceleration of the vehicle in the vertical direction;
according to the acceleration of the vehicle in the vertical direction, recognizing the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle;
calculating a time length between a vibration time point of the front wheels of the vehicle passing through the obstacle and a vibration time point of the rear wheels passing through the obstacle;
and acquiring a vehicle wheel base, and dividing the vehicle wheel base by the time length to obtain a first running speed of the vehicle.
The embodiment of the invention also provides a vehicle positioning method, which is based on the vehicle speed measuring method and further comprises the following steps:
acquiring an initial positioning position and a course of a vehicle;
calculating to obtain the current positioning position of the vehicle according to the initial positioning position, the course and the first running speed of the vehicle; or calculating to obtain the current positioning position of the vehicle according to the initial positioning position, the course and the fusion running speed of the vehicle.
An embodiment of the present invention further provides a vehicle speed measuring device, including:
the first acquisition module is used for continuously acquiring the acceleration of the vehicle in the vertical direction;
the vibration time point identification module is used for identifying the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle according to the acceleration of the vehicle in the vertical direction;
the time length calculation module is used for calculating the time length between the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle;
and the first vehicle speed calculating module is used for acquiring the vehicle wheelbase and dividing the vehicle wheelbase by the time length to obtain the first running speed of the vehicle.
The embodiment of the present invention further provides a vehicle positioning device, which includes the vehicle speed measuring device, and further includes:
the positioning module is used for acquiring an initial positioning position and a course of a vehicle and calculating and acquiring a current positioning position of the vehicle according to the initial positioning position, the course and a first running speed of the vehicle; or calculating to obtain the current positioning position of the vehicle according to the initial positioning position, the course and the fusion running speed of the vehicle.
An embodiment of the present invention further provides an electronic device, including:
a memory for storing a program;
a processor for executing the program stored in the memory for:
continuously acquiring the acceleration of the vehicle in the vertical direction;
according to the acceleration of the vehicle in the vertical direction, identifying the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle;
calculating a time length between a vibration time point of a front wheel of the vehicle passing the obstacle and a vibration time point of a rear wheel passing the obstacle;
and acquiring a vehicle wheel base, and dividing the vehicle wheel base by the time length to obtain a first running speed of the vehicle.
An embodiment of the present invention further provides an electronic device, and on the basis of the electronic device, the processor is further configured to:
acquiring an initial positioning position and a course of a vehicle;
calculating to obtain the current positioning position of the vehicle according to the initial positioning position, the course and the first running speed of the vehicle; or calculating to obtain the current positioning position of the vehicle according to the initial positioning position, the course and the fusion running speed of the vehicle.
According to the vehicle speed measuring and positioning method and device and the electronic equipment provided by the embodiment of the invention, the change condition of the acceleration of the vehicle in the vertical direction is obtained by using the inertial sensor of the navigation equipment, the vibration information generated when the vehicle passes through an obstacle is detected, and the more accurate vehicle running speed is obtained through the time difference of the vibration of the front wheel and the rear wheel of the vehicle, so that the more accurate vehicle positioning is realized.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a system block diagram of an embodiment of a business system provided by the present invention;
FIG. 2 is a flow chart of an embodiment of a method for measuring vehicle speed provided by the present invention;
FIG. 3 is a flow chart of another embodiment of a method for measuring vehicle speed according to the present invention;
FIG. 4a is a flow chart of one embodiment of a vehicle locating method provided by the present invention;
FIG. 4b is a schematic diagram of a vehicle positioning method according to an embodiment of the present invention;
FIG. 5 is a flow chart of another embodiment of a vehicle location method provided by the present invention;
FIG. 6 is a schematic structural diagram of an embodiment of a vehicle speed measuring device provided by the present invention;
fig. 7 is a schematic structural diagram of another embodiment of the vehicle speed measuring device provided by the invention;
FIG. 8 is a schematic structural diagram of one embodiment of a vehicle positioning device provided in the present invention;
FIG. 9 is a schematic structural diagram of another embodiment of a vehicle positioning device provided in accordance with the present invention;
FIG. 10 is a schematic structural diagram of an embodiment of an electronic device provided in the present invention;
fig. 11 is a schematic structural diagram of another embodiment of the electronic device provided in the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
When a user navigates by using the vehicle-mounted navigation equipment, the navigation equipment (such as a terminal like a smart phone) is fixed with a vehicle, the navigation equipment is used for acquiring a GPS signal, the vehicle speed and the driving direction are measured according to the GPS signal, and a gyroscope in the navigation equipment is combined for dead reckoning so as to perform positioning and navigation. And under the scene that the GPS signal is weakened or lost, the horizontal acceleration of the vehicle can be obtained only through an acceleration sensor of the navigation equipment, so that the real-time speed of the vehicle is estimated through the change of the acceleration in the horizontal direction and the initial speed of the vehicle. However, the measurement of the acceleration in the horizontal direction is easily affected by the centripetal acceleration due to vibration, uphill/downhill, and cornering, so that the estimation accuracy of the vehicle speed is low. Therefore, the application provides a vehicle speed measurement scheme, and its leading principle is: the method comprises the steps of acquiring the variation condition of the acceleration of a vehicle in a vertical direction by using inertial sensors (comprising an acceleration sensor for measuring the acceleration and a gyroscope for measuring the angular velocity) of a navigation device, and detecting vibration information generated when the vehicle passes through an obstacle (such as a speed bump or an uneven road) according to the time difference of the vibration of front wheels and rear wheels of the vehicle. Then, based on the time difference and the vehicle wheel base (i.e., the distance between the front and rear wheels of the vehicle), a more accurate vehicle running speed is calculated, and thus more accurate vehicle positioning can be achieved.
The method provided by the embodiment of the invention can be applied to any service system with an intelligent terminal navigation function. Fig. 1 is a system block diagram of an embodiment of a service system provided by the present invention, and the structure shown in fig. 1 is only one example of a service system to which the technical solution of the present invention can be applied. As shown in fig. 1, the service system includes a vehicle speed measuring device. This vehicle speed sensor includes: the first obtaining module, the vibration time point identifying module, the duration calculating module and the first vehicle speed calculating module may be configured to execute the following processing flows shown in fig. 2 and 3. In the service system, firstly, the acceleration of a vehicle in the vertical direction is continuously acquired, vibration time points of front and rear wheels of the vehicle passing through an obstacle are acquired according to the change of the acceleration in the vertical direction, and the time length between the vibration time points of the front and rear wheels passing through the obstacle is calculated; and finally, dividing the vehicle wheel base by the time length to obtain the running speed of the vehicle.
On the other hand, the service system may further include a positioning module, and each module in the positioning module and the vehicle speed measurement device constitutes a vehicle positioning device, which may be used to execute the processing flow shown in fig. 4a and fig. 5 described below. In the service system, the initial positioning position and the course of the vehicle can be obtained, and then the current positioning position of the vehicle is calculated according to the initial positioning position, the course and the vehicle running speed obtained by the vehicle speed measuring device. Therefore, the vehicle speed calculation precision is improved, more accurate and continuous vehicle positioning service is provided, and the user experience is improved in the scene that GPS signals are weakened or lost.
The above embodiments are illustrations of technical principles and exemplary application frameworks of the embodiments of the present invention, and specific technical solutions of the embodiments of the present invention are further described in detail below through a plurality of embodiments.
Example one
Fig. 2 is a flowchart of an embodiment of a vehicle speed measuring method provided by the present invention, where an execution subject of the method may be the service system, or may be various terminal devices having a GPS navigation function and an inertial sensor, such as terminal devices such as a smart phone or a car navigator, or may be devices or chips integrated on these terminal devices. As shown in fig. 2, the vehicle speed measuring method includes the following steps:
s201, continuously acquiring the acceleration of the vehicle in the vertical direction.
And S202, identifying the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle according to the acceleration of the vehicle in the vertical direction.
In the embodiment of the invention, firstly, the attitude of the navigation equipment in the space is calculated by utilizing the acceleration sensor and the gyroscope of the navigation equipment, and then the measured acceleration is rotated to the navigation coordinate system, so that the acceleration in the vertical direction is extracted. In each embodiment of the present invention, the navigation apparatus and the vehicle are fixed, and therefore, various acquired acceleration values, velocity values, and the like of the navigation apparatus can be used as the acceleration values, velocity values, and the like of the vehicle.
When a vehicle is traveling on a flat road, its acceleration in the vertical direction is, in principle, infinitely close to zero. When a vehicle vibrates while passing over an obstacle (e.g., a speed bump, or an uneven road), its acceleration in the vertical direction varies. Therefore, the vibration time point of the vehicle can be obtained from the change in the acceleration of the vehicle in the vertical direction, and the time points at which the acceleration values in the vertical direction are close and two accelerations that are temporally adjacent are generated can be considered as the vibration time point at which the front wheels of the vehicle pass through the obstacle and the vibration time point at which the rear wheels pass through the obstacle.
S203, calculating a time length between a vibration time point of the front wheel of the vehicle passing the obstacle and a vibration time point of the rear wheel passing the obstacle.
And S204, acquiring a vehicle wheelbase, and dividing the vehicle wheelbase by the time length to obtain a first running speed of the vehicle.
When the vehicle runs, the front and rear wheels of the vehicle pass through obstacles (speed bumps or uneven roads) in sequence, so that the vehicle can vibrate twice in front and at the rear. By acquiring the time points of the two vibrations, the time difference of the vibration of the front wheel and the rear wheel of the vehicle can be calculated. And the length of the vehicle running in the period is the distance between the front wheel and the rear wheel, namely the wheelbase of the vehicle. Therefore, according to the time length t between the vibration time points of the front wheel and the rear wheel of the vehicle passing through the obstacle and the known vehicle wheel base L, the first running speed v of the vehicle can be calculated; i.e., v ═ L/t.
In actual use, the wheelbase of each vehicle, or each model of vehicle, is not changed, so in the embodiment of the present invention, when the navigation device is used for navigation for the first time, the wheelbase of the vehicle can be input by the user, or the model of the vehicle can be input by the user, and the vehicle wheelbase of the vehicle can be automatically obtained by the navigation device according to the model. And the navigation equipment stores the wheel base of the vehicle, and when the speed of the vehicle is calculated, the calculation is directly carried out according to the acquired time difference and the stored wheel base of the vehicle.
According to the vehicle speed measuring method provided by the embodiment of the invention, the change condition of the acceleration of the vehicle in the vertical direction is obtained by using the inertial sensor of the navigation equipment, the vibration information generated when the vehicle passes through an obstacle is detected, and the more accurate vehicle running speed is obtained through the time difference of the vibration of the front wheel and the rear wheel of the vehicle.
Example two
Fig. 3 is a flowchart of another embodiment of a vehicle speed measuring method according to the present invention. As shown in fig. 3, on the basis of the embodiment shown in fig. 2, the vehicle speed measuring method provided in this embodiment may further include the following steps:
and S301, continuously acquiring the acceleration of the vehicle in the vertical direction.
In the embodiment of the invention, firstly, the attitude of the navigation equipment in the space is calculated by utilizing the acceleration sensor and the gyroscope of the navigation equipment, and then the measured acceleration is rotated to the navigation coordinate system, so that the acceleration in the vertical direction is extracted.
And S302, performing low-pass filtering processing on the acceleration of the vehicle in the vertical direction.
In the embodiment of the invention, the acceleration in the vertical direction can be effectively detected. The specific operation may be to perform low-pass filtering processing on the acceleration in the vertical direction, retain vibration information with a lower frequency, and filter vibration interference with a higher frequency. In general, since the vibration with frequency higher than 30Hz is vibration interference and is not effective vibration which can be used for calculating the vehicle speed, preferably, the cut-off frequency of the low-pass filter can be 30Hz, and the vibration interference higher than 30Hz is filtered.
And S303, identifying the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle according to the filtered acceleration in the vertical direction.
In the embodiment of the present invention, the navigation apparatus and the vehicle are fixed, and therefore, various acquired acceleration values, velocity values, and the like of the navigation apparatus can be used as acceleration values, velocity values, and the like of the vehicle. When a vehicle is driven on a gentle road surface, in principle, its acceleration in the vertical direction is infinitely close to zero. When a vehicle vibrates while passing over an obstacle (e.g., a speed bump, or an uneven road), its acceleration in the vertical direction varies. Therefore, the vibration time point of the vehicle can be acquired according to the variation of the acceleration of the vehicle in the vertical direction.
And S304, calculating the time length between the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle.
S305, obtaining the vehicle wheelbase, and dividing the vehicle wheelbase by the time length to obtain the first running speed of the vehicle.
When the vehicle runs, the front and rear wheels of the vehicle pass through obstacles (speed bumps or uneven road surfaces) in sequence, so that the vehicle can vibrate twice in front and at the rear. By acquiring the time points of the two vibrations, the time difference between the vibrations of the front and rear wheels of the vehicle can be calculated. The length of the vehicle running in the period is the distance between the front wheel and the rear wheel, namely the wheelbase of the vehicle. Therefore, the first running speed v of the vehicle can be calculated by dividing the vehicle wheel base L by the time length t between the vibration time points of the front and rear wheels of the vehicle passing through the obstacle; i.e., v ═ L/t.
In actual use, the wheelbase of each vehicle, or each model of vehicle, is not changed, so in the embodiment of the present invention, when the navigation device is used for navigation for the first time, the wheelbase of the vehicle can be input by the user, or the model of the vehicle can be input by the user, and the vehicle wheelbase of the vehicle can be automatically obtained by the navigation device according to the model. And the navigation equipment stores the vehicle wheelbase, and when the vehicle speed is calculated, the vehicle wheelbase is directly calculated according to the acquired time difference and the stored vehicle wheelbase.
S306, acquiring the initial running speed and the acceleration in the horizontal direction of the vehicle.
And S307, calculating to obtain a second running speed of the vehicle at the set time according to the initial running speed of the vehicle and the acceleration in the horizontal direction.
And S308, performing fusion calculation on the first running speed and the second running speed at the same moment to obtain the fusion running speed of the vehicle at the moment.
In the embodiment of the present invention, in order to improve the accuracy of the vehicle speed estimation, the second running speed may be calculated by using an existing method, and the first running speed of the vehicle may be adjusted. That is, the second travel speed of the vehicle may be estimated from the acceleration of the vehicle in the horizontal direction and the initial travel speed of the vehicle, and then the first travel speed and the second travel speed at the same time are subjected to the fusion calculation, so that the fusion travel speed of the vehicle at that time is obtained, which is more accurate.
Specifically, in the embodiment of the present invention, the fusion calculation of the first running speed and the second running speed may be performed in the following manner: carrying out weighted average calculation on the first running speed and the second running speed to obtain a fusion running speed; or performing Kalman filtering calculation on the first running speed and the second running speed to obtain a fusion running speed.
The vehicle speed measuring method provided by the embodiment of the invention utilizes the inertial sensor of the navigation equipment to acquire the change condition of the acceleration of the vehicle in the vertical direction, detects the vibration information generated when the vehicle passes through an obstacle, and acquires a running speed value of the vehicle according to the time difference of the vibration of the front wheel and the rear wheel of the vehicle; further, another driving speed value of the vehicle is calculated through the acceleration in the horizontal direction; and then, the two driving speed values are subjected to fusion adjustment, so that the calculated fusion driving speed is more accurate.
EXAMPLE III
Fig. 4a is a flowchart of an embodiment of a vehicle positioning method according to the present invention. As shown in fig. 4a, on the basis of the embodiment of the vehicle speed measuring method shown in fig. 2, the embodiment of the present invention may further perform vehicle positioning, and the specific method may include the following steps:
s401, the acceleration of the vehicle in the vertical direction is continuously acquired.
S402, according to the acceleration of the vehicle in the vertical direction, the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle are identified.
In the embodiment of the invention, firstly, the attitude of the navigation equipment in the space is calculated by utilizing the acceleration sensor and the gyroscope of the navigation equipment, and then the measured acceleration is rotated to the navigation coordinate system, so that the acceleration in the vertical direction is extracted. In the embodiments of the present invention, the navigation apparatus and the vehicle are fixed, and therefore, various acquired acceleration values, velocity values, and the like of the navigation apparatus can be used as the acceleration values, the velocity values, and the like of the vehicle. When a vehicle is traveling on a gentle road, its acceleration in the vertical direction is, in principle, infinitely close to zero. When a vehicle vibrates while passing over an obstacle (e.g., a speed bump, or an uneven road), its acceleration in the vertical direction varies. Therefore, the vibration time point of the vehicle can be acquired from the change in the acceleration of the vehicle in the vertical direction.
And S403, calculating the time length between the vibration time point of the front wheel passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle.
S404, obtaining the vehicle wheelbase, and dividing the vehicle wheelbase by the time length to obtain the first running speed of the vehicle.
When the vehicle runs, the front and rear wheels of the vehicle pass through obstacles (speed bumps or uneven roads) in sequence, so that the vehicle can vibrate twice in front and at the rear. By acquiring the time points of the two vibrations, the time difference of the vibration of the front wheel and the rear wheel of the vehicle can be calculated. And the length of the vehicle running in the period is the distance between the front wheel and the rear wheel, namely the wheelbase of the vehicle. Therefore, according to the time length t between the vibration time points of the front wheel and the rear wheel of the vehicle passing through the obstacle and the known vehicle wheel base L, the first running speed v of the vehicle can be calculated; i.e., v ═ L/t.
In actual use, the wheelbase of each vehicle, or each model of vehicle, is not changed, so in the embodiment of the present invention, when the navigation device is used for navigation for the first time, the wheelbase of the vehicle may be input by the user, or the model of the vehicle may be input by the user, and the vehicle wheelbase of the vehicle is automatically acquired by the navigation device according to the model. And the navigation equipment stores the vehicle wheelbase, and when the vehicle speed is calculated, the vehicle wheelbase is directly calculated according to the acquired time difference and the stored vehicle wheelbase.
S405, acquiring an initial positioning position and a heading of the vehicle.
And S406, calculating to obtain the current positioning position of the vehicle according to the initial positioning position, the heading and the first running speed of the vehicle.
In the embodiment of the invention, the current positioning position of the vehicle can be calculated according to the first running speed which is accurately calculated and the vehicle heading and the initial positioning position of the vehicle which are calculated according to the gyroscope in the navigation equipment. The specific principle is as follows:
fig. 4b is a schematic diagram of vehicle positioning according to an embodiment of the vehicle positioning method provided by the present invention. As shown in FIG. 4b, in the embodiment of the present invention, a point (X)n-1，Yn-1) For the initially located coordinate point, point (X)n，Yn) And v is the first running speed calculated in the manner, T is the time interval from the initial positioning to the current positioning, and Heading is the Heading angle calculated by the gyroscope. Then, the coordinate values of the current position can be calculated by the following equations (1) and (2):
Xn＝Xn-1+v*T*cos(Heading)…………………………………………(1)
Yn＝Yn-1+v*T*sin(Heading)…………………………………………(2)
according to the vehicle positioning method provided by the embodiment of the invention, the change condition of the acceleration of the vehicle in the vertical direction is acquired by using the inertial sensor of the navigation equipment, the vibration information generated when the vehicle passes through an obstacle is detected, the more accurate vehicle running speed is acquired through the time difference of the vibration of the front wheel and the rear wheel of the vehicle, the more accurate and continuous vehicle positioning service is provided by combining the initial positioning position and the course of the vehicle, and the user experience is improved under the scene that the GPS signal is weakened or lost.
Example four
FIG. 5 is a flow chart of another embodiment of a vehicle locating method provided by the present invention. As shown in fig. 5, on the basis of the embodiment shown in fig. 4a, the vehicle positioning method provided in the embodiment of the present invention may further include the following steps:
and S501, continuously acquiring the acceleration of the vehicle in the vertical direction.
In the embodiment of the invention, firstly, the attitude of the navigation equipment in space is calculated by utilizing an acceleration sensor and a gyroscope of the navigation equipment, and then, the measured acceleration is rotated to a navigation coordinate system, so that the acceleration in the vertical direction is extracted.
And S502, performing low-pass filtering processing on the acceleration of the vehicle in the vertical direction.
In the embodiment of the invention, the acceleration in the vertical direction can be effectively detected by vibration. The specific operation may be to perform low-pass filtering processing on the acceleration in the vertical direction, retain vibration information with a lower frequency, and filter vibration interference with a higher frequency. Generally, the vibration with frequency higher than 30Hz is vibration interference, and is not effective vibration which can be used for calculating the vehicle speed, therefore, preferably, the cut-off frequency of the low-pass filter can be 30Hz, and the vibration interference higher than 30Hz is filtered.
And S503, identifying the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle according to the filtered acceleration in the vertical direction.
In the embodiment of the present invention, the navigation apparatus and the vehicle are fixed, and therefore, various acquired acceleration values, velocity values, and the like of the navigation apparatus can be used as acceleration values, velocity values, and the like of the vehicle. When a vehicle is driven on a gentle road surface, in principle, its acceleration in the vertical direction is infinitely close to zero. When a vehicle vibrates while passing over an obstacle (e.g., a speed bump, or an uneven road), its acceleration in the vertical direction varies. Therefore, the vibration time point of the vehicle can be acquired according to the variation of the acceleration of the vehicle in the vertical direction.
S504, calculating the time length between the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle; and acquiring a vehicle wheelbase, and dividing the time length by the vehicle wheelbase to obtain a first running speed of the vehicle.
When the vehicle runs, the front and rear wheels of the vehicle pass through obstacles (speed bumps or uneven road surfaces) in sequence, so that the vehicle can vibrate twice in front and at the rear. By acquiring the time points of the two vibrations, the time difference of the vibration of the front wheel and the rear wheel of the vehicle can be calculated. The length of the vehicle running in the period is the distance between the front wheel and the rear wheel, namely the wheelbase of the vehicle. Therefore, the first running speed v of the vehicle can be calculated by dividing the vehicle wheel base L by the time length t between the vibration time points of the front and rear wheels of the vehicle passing through the obstacle; i.e., v ═ L/t.
In actual use, the wheelbase of each vehicle, or each model of vehicle, is not changed, so in the embodiment of the present invention, when the navigation device is used for navigation for the first time, the wheelbase of the vehicle may be input by the user, or the model of the vehicle may be input by the user, and the vehicle wheelbase of the vehicle is automatically acquired by the navigation device according to the model. And the navigation equipment stores the vehicle wheelbase, and when the vehicle speed is calculated, the vehicle wheelbase is directly calculated according to the acquired time difference and the stored vehicle wheelbase.
S505, acquiring the initial running speed and the acceleration in the horizontal direction of the vehicle; calculating to obtain a second running speed of the vehicle at a set moment according to the initial running speed of the vehicle and the acceleration in the horizontal direction; and performing fusion calculation on the first running speed and the second running speed at the same moment to obtain the fusion running speed of the vehicle at the moment.
In the embodiment of the present invention, in order to improve the accuracy of the vehicle speed estimation, the second running speed may be calculated by using a conventional method, and the first running speed of the vehicle may be adjusted. That is, the second travel speed of the vehicle may be estimated from the acceleration of the vehicle in the horizontal direction and the initial travel speed of the vehicle, and then the first travel speed and the second travel speed at the same time are subjected to fusion processing, so that a fusion travel speed of the vehicle at the time is obtained, which is more accurate.
Specifically, in the embodiment of the present invention, the fusion calculation of the first running speed and the second running speed may be performed in the following manner: carrying out weighted average calculation on the first running speed and the second running speed to obtain a fusion running speed; or performing Kalman filtering calculation on the first running speed and the second running speed to obtain a fusion running speed.
S506, acquiring an initial positioning position and a course of the vehicle; and calculating to obtain the current positioning position of the vehicle according to the initial positioning position, the course and the fusion running speed of the vehicle.
In the embodiment of the invention, the current positioning position of the vehicle can be calculated according to the accurately calculated fusion running speed, the vehicle heading calculated according to the gyroscope in the navigation equipment and the initial positioning position of the vehicle. The specific principle is shown in fig. 4b, and is not described herein again.
The vehicle positioning method provided by the embodiment of the invention utilizes the inertial sensor of the navigation equipment to acquire the change condition of the acceleration of the vehicle in the vertical direction, detects the vibration information generated when the vehicle passes through an obstacle, and acquires the first running speed through the time difference of the vibration of the front wheel and the rear wheel of the vehicle; furthermore, a second running speed of the vehicle is calculated through the acceleration in the horizontal direction, and fusion adjustment is carried out on the first running speed, so that the calculated fusion running speed is more accurate, more accurate and continuous vehicle positioning service is provided, and user experience is improved in the scene that GPS signals are weakened or lost.
EXAMPLE five
Fig. 6 is a schematic structural diagram of an embodiment of a vehicle speed measuring device provided by the present invention, which can be used for executing the method steps shown in fig. 2. As shown in fig. 6, the apparatus may include: the vehicle-mounted control system comprises a first acquisition module 61, a vibration time point identification module 62, a duration calculation module 63 and a first vehicle speed calculation module 64.
The first acquiring module 61 is used for continuously acquiring the acceleration of the vehicle in the vertical direction; the vibration time point identification module 62 is configured to identify a vibration time point when a front wheel of the vehicle passes through an obstacle and a vibration time point when a rear wheel of the vehicle passes through the obstacle according to the acceleration of the vehicle in the vertical direction, which is acquired by the first acquisition module 61; the duration calculation module 63 is configured to calculate a time duration between a vibration time point of the front wheel of the vehicle passing through the obstacle and a vibration time point of the rear wheel passing through the obstacle, which are identified by the vibration time point identification module 62; the first vehicle speed calculating module 64 is configured to obtain a vehicle wheel base, and divide the vehicle wheel base by the time length calculated by the time length calculating module 63 to obtain a first traveling speed of the vehicle.
In the embodiment of the present invention, the attitude of the navigation device in space may be calculated by using an acceleration sensor and a gyroscope of the navigation device, and first, the first obtaining module 61 rotates the measured acceleration to the navigation coordinate system, so that the acceleration in the vertical direction can be extracted. In the embodiments of the present invention, the navigation apparatus and the vehicle are fixed, and therefore, various acquired acceleration values, velocity values, and the like of the navigation apparatus can be used as the acceleration values, the velocity values, and the like of the vehicle. When a vehicle is traveling on a flat road, its acceleration in the vertical direction is, in principle, infinitely close to zero. When a vehicle vibrates while passing over an obstacle (e.g., a speed bump, or an uneven road), its acceleration in the vertical direction varies. Therefore, the vibration time point identification module 62 may acquire the vibration time point of the vehicle from the change of the acceleration of the vehicle in the vertical direction, and the time points at which the acceleration values in the vertical direction are close and two accelerations adjacent in time are generated may be regarded as the vibration time point at which the front wheels of the vehicle pass through the obstacle and the vibration time point at which the rear wheels pass through the obstacle.
When the vehicle runs, the front and rear wheels of the vehicle pass through obstacles (speed bumps or uneven roads) in sequence, so that the vehicle can vibrate twice in front and at the rear. As long as the time points at which these two vibrations occur are obtained, the time length calculation module 63 can calculate the time difference between the vibrations of the front and rear wheels of the vehicle. And the length of the vehicle running in the period is the distance between the front wheel and the rear wheel, namely the wheelbase of the vehicle. Therefore, the first vehicle speed calculating module 64 can calculate the first traveling speed v of the vehicle according to the time length t between the vibration time points of the front and rear wheels of the vehicle passing through the obstacle and the known vehicle wheel base L; i.e., v ═ L/t.
In practical use, the wheelbase of each vehicle, or each model of vehicle, is not changed, so in the embodiment of the present invention, when the navigation device is used for navigation for the first time, the wheelbase of the vehicle may be input by the user, or the model of the vehicle may be input by the user, and the vehicle wheelbase of the vehicle is automatically obtained by the navigation device according to the model. The navigation device stores the vehicle wheel base, and when the first vehicle speed calculation module 64 calculates the vehicle speed, the vehicle wheel base is directly calculated according to the acquired time difference and the stored vehicle wheel base.
According to the vehicle speed measuring device provided by the embodiment of the invention, the change condition of the acceleration of the vehicle in the vertical direction is obtained by using the inertial sensor of the navigation equipment, the vibration information generated when the vehicle passes through an obstacle is detected, and the more accurate vehicle running speed is obtained through the time difference of the vibration of the front wheel and the rear wheel of the vehicle.
Example six
Fig. 7 is a schematic structural diagram of another embodiment of the vehicle speed measuring device provided by the present invention, which can be used for executing the method steps shown in fig. 3. As shown in fig. 7, on the basis of the embodiment shown in fig. 6, the vehicle speed measuring device provided in the embodiment of the present invention may further include: a second acquisition module 71, a second vehicle speed calculation module 72 and a fusion calculation module 73.
The second obtaining module 71 is configured to obtain an initial driving speed and an acceleration in a horizontal direction of the vehicle; the second vehicle speed calculating module 72 is configured to calculate a second driving speed of the vehicle at a set time according to the initial driving speed of the vehicle and the acceleration in the horizontal direction acquired by the second acquiring module 71; the fusion calculation module 73 may be configured to perform a fusion calculation on the first traveling speed calculated by the first traveling speed calculation module 64 and the second traveling speed calculated by the second traveling speed calculation module 72 at the same time, so as to obtain a fusion traveling speed of the vehicle at the time.
In the embodiment of the present invention, in order to improve the accuracy of the vehicle speed estimation, the second running speed may be calculated by using an existing method, and the first running speed of the vehicle may be adjusted. That is, the initial traveling speed and the acceleration in the horizontal direction of the vehicle are acquired by the second acquisition module 71, then the second traveling speed of the vehicle is calculated by the second vehicle speed calculation module 72 from the acceleration in the horizontal direction of the vehicle and the initial traveling speed of the vehicle, and finally, the fusion calculation module 73 performs fusion processing on the first traveling speed calculated by the first vehicle speed calculation module 64 and the second traveling speed calculated by the second vehicle speed calculation module 72 at the same time, thereby obtaining a fusion traveling speed of the vehicle at the time, which is more accurate.
Specifically, in the embodiment of the present invention, the fusion calculation module 73 performs the fusion calculation on the first traveling speed and the second traveling speed in the following manner: carrying out weighted average calculation on the first running speed and the second running speed to obtain a fusion running speed; or performing Kalman filtering calculation on the first running speed and the second running speed to obtain a fusion running speed.
Further, the vehicle speed measurement device provided by the embodiment of the present invention may further include: a filtering module 74.
The filtering module 74 may be configured to perform the low-pass filtering process on the acceleration in the vertical direction before the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle are identified by the vibration time point identification module 62 according to the acceleration in the vertical direction of the vehicle.
In an embodiment of the present invention, the filtering module 74 may perform active shock detection on acceleration in the vertical direction. Specifically, the filtering module 74 performs low-pass filtering on the acceleration in the vertical direction, retains vibration information with a low frequency, and filters vibration interference with a high frequency. Since the vibration with frequency higher than 30Hz is generally vibration interference and not effective vibration that can be used for calculating the vehicle speed, preferably, the cut-off frequency of the filtering module 74 may be 30Hz to filter out vibration interference higher than 30 Hz.
The vehicle speed measuring device provided by the embodiment of the invention utilizes the inertial sensor of the navigation equipment to acquire the change condition of the acceleration of the vehicle in the vertical direction, detects the vibration information generated when the vehicle passes through an obstacle, and acquires a running speed value of the vehicle according to the time difference of the vibration of the front wheel and the rear wheel of the vehicle; further, another driving speed value of the vehicle is calculated through the acceleration in the horizontal direction; and then, carrying out fusion adjustment on the two running speed values, so that the calculated fusion running speed is more accurate.
EXAMPLE seven
FIG. 8 is a schematic diagram of an embodiment of a vehicle positioning apparatus of the present invention, which can be used to perform the method steps shown in FIG. 4 a. On the basis of the vehicle speed measuring device shown in fig. 6, the embodiment of the invention can also perform vehicle positioning. As shown in fig. 8, a vehicle positioning apparatus provided by an embodiment of the present invention may include: the vehicle-mounted monitoring system comprises a first acquisition module 61, a vibration time point identification module 62, a duration calculation module 63, a first vehicle speed calculation module 64 and a positioning module 81.
The first acquiring module 61 is used for continuously acquiring the acceleration of the vehicle in the vertical direction; the vibration time point identification module 62 is configured to identify a vibration time point when a front wheel of the vehicle passes through an obstacle and a vibration time point when a rear wheel of the vehicle passes through the obstacle according to the acceleration of the vehicle in the vertical direction, which is acquired by the first acquisition module 61; the duration calculation module 63 is configured to calculate a time duration between a vibration time point of the front wheel of the vehicle passing through the obstacle and a vibration time point of the rear wheel passing through the obstacle, which are identified by the vibration time point identification module 62; the first vehicle speed calculation module 64 is used for obtaining a vehicle wheelbase, and dividing the vehicle wheelbase by the vehicle wheelbase; the time length calculated by the time length calculation module 63 obtains the first running speed of the vehicle. The positioning module 81 is configured to obtain an initial positioning position and a heading of the vehicle, and calculate and obtain a current positioning position of the vehicle according to the initial positioning position, the heading and the first driving speed of the vehicle calculated by the first vehicle speed calculating module 64.
In the embodiment of the present invention, the attitude of the navigation device in space may be calculated by using an acceleration sensor and a gyroscope of the navigation device, and first, the first obtaining module 61 rotates the measured acceleration to the navigation coordinate system, so that the acceleration in the vertical direction can be extracted. In the embodiments of the present invention, the navigation apparatus and the vehicle are fixed, and therefore, various acquired acceleration values, velocity values, and the like of the navigation apparatus can be used as the acceleration values, the velocity values, and the like of the vehicle. When a vehicle is traveling on a gentle road, its acceleration in the vertical direction is, in principle, infinitely close to zero. When a vehicle vibrates while passing over an obstacle (e.g., a speed bump, or an uneven road), its acceleration in the vertical direction varies. Therefore, the vibration time point identification module 62 may acquire the vibration time point of the vehicle according to the change in the acceleration of the vehicle in the vertical direction.
When the vehicle runs, the front and rear wheels of the vehicle pass through obstacles (speed bumps or uneven roads) in sequence, so that the vehicle can vibrate twice in front and at the rear. As long as the time points generated by the two vibrations are obtained, the time length calculation module 63 can calculate the time difference between the vibrations of the front and rear wheels of the vehicle. The length of the vehicle running in the period of time is the distance between the front wheel and the rear wheel, namely the wheelbase of the vehicle. Therefore, the first vehicle speed calculating module 64 can calculate the first traveling speed v of the vehicle according to the time length t between the vibration time points of the front and rear wheels of the vehicle passing through the obstacle and the known vehicle wheel base L; i.e., v ═ L/t.
In practical use, the wheelbase of each vehicle, or each model of vehicle, is not changed, so in the embodiment of the present invention, when the navigation device is used for navigation for the first time, the wheelbase of the vehicle may be input by the user, or the model of the vehicle may be input by the user, and the vehicle wheelbase of the vehicle is automatically obtained by the navigation device according to the model. The navigation device stores the vehicle wheel base, and when the first vehicle speed calculation module 64 calculates the vehicle speed, the calculation is directly performed according to the acquired time difference and the stored vehicle wheel base.
In the embodiment of the present invention, the positioning module 81 can calculate the current position of the vehicle according to the first traveling speed accurately calculated by the first vehicle speed calculating module 64, the initial position of the vehicle, and the vehicle heading calculated by the gyroscope in the navigation device. The specific principle is shown in fig. 4b, and is not described herein again.
According to the vehicle positioning device provided by the embodiment of the invention, the change condition of the acceleration of the vehicle in the vertical direction is acquired by using the inertial sensor of the navigation equipment, the vibration information generated when the vehicle passes through an obstacle is detected, the more accurate vehicle running speed is acquired through the time difference of the vibration of the front wheel and the rear wheel of the vehicle, the more accurate and continuous vehicle positioning service is provided by combining the initial positioning position and the course of the vehicle, and the user experience is improved under the scene that the GPS signal is weakened or lost.
Example eight
Fig. 9 is a schematic structural diagram of another embodiment of a vehicle positioning device provided by the invention. As shown in fig. 9, similar to the function of the embodiment shown in fig. 7, on the basis of the embodiment shown in fig. 8, the vehicle positioning device provided by the embodiment of the present invention may also include: a second acquisition module 71, a second vehicle speed calculation module 72 and a fusion calculation module 73.
The second obtaining module 71 is configured to obtain an initial running speed and an acceleration in a horizontal direction of the vehicle; the second vehicle speed calculating module 72 is configured to calculate a second driving speed of the vehicle at the set time according to the initial driving speed of the vehicle and the acceleration in the horizontal direction; the fusion calculation module 73 may be configured to perform fusion calculation on the first traveling speed and the second traveling speed at the same time to obtain a fusion traveling speed of the vehicle at the time.
At this time, the positioning module 81 may also be configured to calculate and obtain the current positioning position of the vehicle according to the initial positioning position of the vehicle, the heading direction, and the fusion traveling speed of the vehicle calculated by the fusion calculating module 73.
In the embodiment of the present invention, in order to improve the accuracy of the vehicle speed estimation, the second running speed may be calculated by using a conventional method, and the first running speed of the vehicle may be adjusted. That is, the initial traveling speed and the acceleration in the horizontal direction of the vehicle are acquired by the second acquisition module 71, then the second traveling speed of the vehicle is calculated by the second vehicle speed calculation module 72 from the acceleration in the horizontal direction of the vehicle and the initial traveling speed of the vehicle, and finally, the fusion calculation module 73 performs fusion processing on the first traveling speed calculated by the first vehicle speed calculation module 64 and the second traveling speed calculated by the second vehicle speed calculation module 72 at the same time, thereby obtaining a fusion traveling speed of the vehicle at the time, which is more accurate.
Specifically, in the embodiment of the present invention, the fusion calculation module 73 performs the fusion calculation on the first traveling speed and the second traveling speed in the following manner: carrying out weighted average calculation on the first running speed and the second running speed to obtain a fusion running speed; or performing Kalman filtering calculation on the first running speed and the second running speed to obtain a fusion running speed.
Further, the vehicle speed measurement device provided by the embodiment of the present invention may further include: a filtering module 74.
The filtering module 74 may be configured to perform low pass filtering on the acceleration in the vertical direction before the vibration time point identification module 62 identifies the vibration time point when the front wheel of the vehicle passes through the obstacle and the vibration time point when the rear wheel passes through the obstacle according to the acceleration in the vertical direction of the vehicle.
In an embodiment of the present invention, the filtering module 74 may perform active shock detection on acceleration in the vertical direction. Specifically, the filtering module 74 performs low-pass filtering on the acceleration in the vertical direction, retains vibration information with a low frequency, and filters vibration interference with a high frequency. Since the vibration with frequency higher than 30Hz is generally vibration interference and not effective vibration that can be used for calculating the vehicle speed, preferably, the cut-off frequency of the filtering module 74 may be 30Hz to filter out vibration interference higher than 30 Hz.
The vehicle positioning device provided by the embodiment of the invention utilizes the inertial sensor of the navigation equipment to acquire the change condition of the acceleration of the vehicle in the vertical direction, detects the vibration information generated when the vehicle passes through an obstacle, and acquires a running speed value of the vehicle through the time difference of the vibration of the front wheel and the rear wheel of the vehicle; further, another driving speed value of the vehicle is calculated through the acceleration in the horizontal direction; and then, the two running speed values are subjected to fusion adjustment, so that the calculated fusion running speed is more accurate, more accurate and continuous vehicle positioning service is provided, and the user experience is improved in the scene that the GPS signal is weakened or lost.
Example nine
The internal functions and structure of the vehicle speed measuring device, which can be implemented as an electronic device, are described above. Fig. 10 is a schematic structural diagram of an embodiment of an electronic device provided in the present invention. As shown in fig. 10, the electronic device includes a memory 101 and a processor 102.
A memory 101 for storing programs. In addition to the above-described programs, the memory 101 may also be configured to store other various data to support operations on the electronic device. Examples of such data include instructions for any application or method operating on the electronic device, contact data, phonebook data, messages, pictures, videos, and so forth.
The memory 101 may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
A processor 102, coupled to the memory 101, for executing the program stored in the memory 101 to:
continuously acquiring the acceleration of the vehicle in the vertical direction;
identifying a vibration time point when a front wheel of the vehicle passes through an obstacle and a vibration time point when a rear wheel of the vehicle passes through the obstacle according to the acceleration of the vehicle in the vertical direction;
calculating the time length between the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle;
and acquiring a vehicle wheelbase, and dividing the vehicle wheelbase by the time length to obtain a first running speed of the vehicle.
Further, as shown in fig. 10, the electronic device may further include: communication components 103, power components 104, audio components 105, display 106, and other components. Only some of the components are schematically shown in fig. 10, and the electronic device is not meant to include only the components shown in fig. 10.
The communication component 103 is configured to facilitate wired or wireless communication between the electronic device and other devices. The electronic device may access a wireless network based on a communication standard, such as WiFi, 3G, 4G, or 5G, or a combination thereof. In an exemplary embodiment, the communication component 103 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 103 further comprises a Near Field Communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
The power supply component 104 provides power to various components of the electronic device. The power components 104 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for an electronic device.
The audio component 105 is configured to output and/or input audio signals. For example, the audio component 105 includes a Microphone (MIC) configured to receive external audio signals when the electronic device is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal may further be stored in the memory 101 or transmitted via the communication component 103. In some embodiments, audio component 105 also includes a speaker for outputting audio signals.
The display 106 includes a screen, which may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.
EXAMPLE ten
The internal functions and structure of the vehicle positioning apparatus, which can be implemented as an electronic device, are described above. Fig. 11 is a schematic structural diagram of another embodiment of the electronic device provided in the present invention. As shown in fig. 11, the electronic device includes a memory 111 and a processor 112.
The memory 111 stores programs. In addition to the above-described programs, the memory 111 may also be configured to store other various data to support operations on the electronic device. Examples of such data include instructions for any application or method operating on the electronic device, contact data, phonebook data, messages, pictures, videos, and so forth.
The memory 111 may be implemented by any type or combination of volatile and non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
A processor 112, coupled to the memory 111, for executing programs stored in the memory 111 to:
continuously acquiring the acceleration of the vehicle in the vertical direction;
identifying a vibration time point of a front wheel of the vehicle passing through an obstacle and a vibration time point of a rear wheel of the vehicle passing through the obstacle according to the acceleration of the vehicle in the vertical direction;
calculating the time length between the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle;
obtaining a vehicle wheelbase, and dividing the time length by the vehicle wheelbase to obtain a first running speed of the vehicle;
acquiring an initial positioning position and a course of a vehicle;
calculating to obtain the current positioning position of the vehicle according to the initial positioning position, the course and the first running speed of the vehicle; or calculating to obtain the current positioning position of the vehicle according to the initial positioning position, the course and the fusion running speed of the vehicle.
Further, as shown in fig. 11, the electronic device may further include: communication component 113, power component 114, audio component 115, display 116, and the like. Only some of the components are schematically shown in fig. 11, and the electronic device is not meant to include only the components shown in fig. 11.
The communication component 113 is configured to facilitate wired or wireless communication between the electronic device and other devices. The electronic device may access a wireless network based on a communication standard, such as WiFi, 3G, 4G, or 5G, or a combination thereof. In an exemplary embodiment, the communication component 113 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 113 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
A power supply component 114 that provides power to the various components of the electronic device. The power components 114 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for an electronic device.
Audio component 115 is configured to output and/or input audio signals. For example, audio component 115 may include a Microphone (MIC) configured to receive external audio signals when the electronic device is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal may further be stored in the memory 111 or transmitted via the communication component 113. In some embodiments, audio component 115 also includes a speaker for outputting audio signals.
The display 116 includes a screen, which may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. A method of measuring a speed of a vehicle, comprising:
continuously acquiring the acceleration of the vehicle in the vertical direction;
according to the acceleration of the vehicle in the vertical direction, identifying the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle;
calculating a time length between a vibration time point of the front wheels of the vehicle passing through the obstacle and a vibration time point of the rear wheels passing through the obstacle;
obtaining a vehicle wheel base, and dividing the vehicle wheel base by the time length to obtain a first running speed of the vehicle;
acquiring an initial running speed and an acceleration in a horizontal direction of a vehicle;
Calculating to obtain a second running speed of the vehicle at a set moment according to the initial running speed of the vehicle and the acceleration in the horizontal direction;
and performing fusion calculation on the first running speed and the second running speed at the same moment to obtain the fusion running speed of the vehicle at the moment.
2. The method for measuring the speed of the vehicle according to claim 1, wherein the fusion calculation of the first running speed and the second running speed at the same time to obtain the fusion running speed of the vehicle at the time comprises:
and carrying out weighted average calculation or Kalman filtering calculation on the first running speed and the second running speed to obtain the fusion running speed of the vehicle.
3. A method according to any one of claims 1 to 2, wherein before said identifying a point in time at which a front wheel of said vehicle vibrates over an obstacle and a point in time at which a rear wheel vibrates over said obstacle based on acceleration of said vehicle in a vertical direction, further comprising:
and carrying out low-pass filtering processing on the acceleration in the vertical direction.
4. A vehicle positioning method according to any one of claims 1 to 3, further comprising:
Acquiring an initial positioning position and a course of a vehicle;
calculating to obtain the current positioning position of the vehicle according to the initial positioning position, the course and the first running speed of the vehicle; or calculating to obtain the current positioning position of the vehicle according to the initial positioning position, the course and the fusion running speed of the vehicle.
5. A vehicle speed measuring device, comprising:
the first acquisition module is used for continuously acquiring the acceleration of the vehicle in the vertical direction;
the vibration time point identification module is used for identifying the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle according to the acceleration of the vehicle in the vertical direction;
the time length calculation module is used for calculating the time length between the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle;
the first vehicle speed calculation module is used for acquiring a vehicle wheel base, and dividing the vehicle wheel base by the time length to obtain a first running speed of the vehicle;
the second acquisition module is used for acquiring the initial running speed and the acceleration in the horizontal direction of the vehicle;
The second vehicle speed calculation module is used for calculating and obtaining a second running speed of the vehicle at a set moment according to the initial running speed of the vehicle and the acceleration in the horizontal direction;
and the fusion calculation module is used for performing fusion calculation on the first running speed and the second running speed at the same moment to obtain the fusion running speed of the vehicle at the moment.
6. The vehicle speed measuring device according to claim 5, wherein the fusion calculation module is further configured to perform weighted average calculation or Kalman filtering calculation on the first traveling speed and the second traveling speed to obtain the fusion traveling speed of the vehicle.
7. A vehicle speed measurement device according to any of claims 5 to 6, further comprising:
and the filtering module is used for performing low-pass filtering processing on the acceleration in the vertical direction before the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle are identified according to the acceleration of the vehicle in the vertical direction.
8. A vehicle positioning apparatus comprising the vehicle speed measuring apparatus according to any one of claims 5 to 7, further comprising:
The positioning module is used for acquiring an initial positioning position and a course of a vehicle, and calculating and acquiring a current positioning position of the vehicle according to the initial positioning position, the course and a first running speed of the vehicle; or calculating to obtain the current positioning position of the vehicle according to the initial positioning position, the course and the fusion running speed of the vehicle.
9. An electronic device, comprising:
a memory for storing a program;
a processor for executing the program stored in the memory for:
continuously acquiring the acceleration of the vehicle in the vertical direction;
according to the acceleration of the vehicle in the vertical direction, recognizing the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle;
calculating a time length between a vibration time point of the front wheels of the vehicle passing through the obstacle and a vibration time point of the rear wheels passing through the obstacle;
obtaining a vehicle wheel base, and dividing the vehicle wheel base by the time length to obtain a first running speed of the vehicle;
acquiring an initial running speed and an acceleration in a horizontal direction of a vehicle;
calculating to obtain a second running speed of the vehicle at a set moment according to the initial running speed of the vehicle and the acceleration in the horizontal direction;
And performing fusion calculation on the first running speed and the second running speed at the same moment to obtain the fusion running speed of the vehicle at the moment.
10. An electronic device, wherein on the basis of the electronic device of claim 9, the processor is further configured to:
acquiring an initial positioning position and a course of a vehicle;
calculating to obtain the current positioning position of the vehicle according to the initial positioning position, the course and the first running speed of the vehicle; or calculating to obtain the current positioning position of the vehicle according to the initial positioning position, the course and the fusion running speed of the vehicle.
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