CN111063210A - Vehicle monitoring method and device based on high-precision positioning - Google Patents
Vehicle monitoring method and device based on high-precision positioning Download PDFInfo
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- CN111063210A CN111063210A CN201911389341.1A CN201911389341A CN111063210A CN 111063210 A CN111063210 A CN 111063210A CN 201911389341 A CN201911389341 A CN 201911389341A CN 111063210 A CN111063210 A CN 111063210A
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- G—PHYSICS
- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
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Abstract
The invention relates to the technical field of high-precision positioning, and discloses a vehicle monitoring method based on high-precision positioning, which comprises the following steps: acquiring high-precision position information of the vehicle; continuously calculating the change rate of the vehicle course angle of the position points corresponding to two continuous moments according to the high-precision position information, and if the change rate is greater than a first threshold value, generating a collision instruction; and reporting the collision instruction in real time. The monitoring equipment comprises a high-precision positioning module, a resolving module, a processor and a reporting module; the high-precision positioning module is used for acquiring high-precision position information of the vehicle; the resolving module is used for continuously calculating the change rate of the vehicle course angle of the corresponding position points at two continuous moments according to the high-precision position information; the processor is used for generating a collision instruction when the change rate is larger than a first threshold value; and the reporting module is used for reporting the collision instruction in real time.
Description
Technical Field
The invention relates to the technical field of high-precision positioning, in particular to a vehicle monitoring method and device based on high-precision positioning.
Background
At present, ordinary vehicle event data recorder also possesses GPS locate function in the market, but the error of GPS location can be greater than 5 ~ 20 meters, can surpass a lane width, fix a position reverse lane, be unfavorable for realizing the monitor function to the vehicle, the vehicle event data recorder who possesses high accuracy location is higher than ordinary vehicle event data recorder's positioning accuracy, its positioning accuracy generally can reach the sub-meter level and reach the centimetre level even, has better advantage on the control of vehicle state.
In addition, some automobile data recorders also have functions of monitoring vehicle states, such as lane departure warning and anti-collision warning, but the functions mainly depend on machine vision equipment, are easily influenced by weather, and can reduce the accuracy of image recognition in rainy, snowy and foggy weather, and the automobile data recorders with high-precision positioning can monitor the driving states of vehicles by resolving high-precision positioning data; the vehicle monitoring system also has the function of reporting the vehicle running state to the cloud server in real time, relevant results are reported to other relevant vehicles in the form of early warning information through man-machine interaction, the influence of the external environment is relatively small, and the vehicle running safety is favorably improved.
Disclosure of Invention
In order to at least solve the technical problem of real-time monitoring of the running state of the vehicle, the invention provides a method and equipment of a vehicle monitoring method and device based on high-precision positioning, and the technical scheme is as follows:
a vehicle monitoring method based on high-precision positioning comprises the following steps: acquiring high-precision position information of the vehicle; continuously calculating the change rate of the vehicle course angle of the position points corresponding to two continuous moments according to the high-precision position information, and if the change rate is greater than a first threshold value, generating a collision instruction; and reporting the collision instruction in real time.
Preferably, the driving state of the vehicle is judged according to a preset rule, and the driving state comprises a straight line driving state and a curve driving state; and when the driving state is a straight driving state, if the change rate is greater than a second threshold value, generating a collision command.
Preferably, the driving state of the vehicle is judged according to a preset rule, and the driving state comprises a straight line driving state and a curve driving state; and when the driving state is a curve driving state, if the change rate is larger than a third threshold value, generating a collision instruction.
Preferably, according to the high-precision position information, calculating a distance value of each position point; if the distance value is gradually increased along with the increase of time, an acceleration instruction is generated; in the process that the distance value is gradually increased along with the increase of time, if the distance value is smaller than a fourth threshold value, a collision instruction is generated; and after the distance value is gradually increased and is maintained to be a constant value, if the distance value is smaller than a fifth threshold value, generating a collision instruction.
Preferably, according to the high-precision position information, calculating a distance value of each position point; if the distance value is gradually reduced along with the increase of time, a deceleration instruction is generated; and when the distance value is smaller than a sixth threshold value, generating a stop instruction.
Preferably, if the distance value is less than a seventh threshold value after the first duration, a collision determination instruction is generated.
Preferably, if the distance value is greater than the eighth threshold after lasting for the second duration, a collision misjudgment instruction is generated.
Preferably, the instruction is reported to a server in real time, and the server generates early warning information according to the instruction and broadcasts the early warning information to other vehicles.
Preferably, according to the vehicle collision instruction, a video recording program and a photographing program are triggered simultaneously.
On the other hand, the invention also discloses vehicle monitoring equipment based on high-precision positioning, which comprises the following modules: the device comprises a high-precision positioning module, a resolving module, a processor and a reporting module; the high-precision positioning module is used for acquiring high-precision position information of the vehicle; the resolving module is used for continuously calculating the change rate of the vehicle course angle of the position points corresponding to two continuous moments according to the high-precision position information; the processor is used for generating a collision instruction when the change rate is larger than a first threshold value; and the reporting module is used for reporting the collision instruction in real time.
Some technical effects of the invention are as follows: the high-precision positioning module is used for providing high-precision positioning for the vehicle, the resolving module is used for obtaining high-precision position information, the change rate of the vehicle course angle of the position points and the distance numerical values between the position points are calculated, and the scheme for monitoring the vehicle running state by using the high-precision positioning is provided, and is low in cost and easy to operate.
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For a better understanding of the technical solution of the present invention, reference is made to the following drawings, which are included to assist in describing the prior art or embodiments. These drawings will selectively demonstrate articles of manufacture or methods related to either the prior art or some embodiments of the invention. The basic information for these figures is as follows:
FIG. 1 is a schematic representation of vehicle heading angles for location points at two consecutive times in one embodiment.
Detailed Description
The technical means or technical effects related to the present invention will be further described below, and it is obvious that the examples provided are only some embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step, will be within the scope of the present invention based on the embodiments of the present invention and the explicit or implicit representations or hints.
On the general concept, a vehicle monitoring method based on high-precision positioning comprises the following steps: acquiring high-precision position information of the vehicle; continuously calculating the vehicle course angle change rate of the position points corresponding to two continuous moments according to the high-precision position information, and if the change rate is greater than a first threshold value, generating a collision instruction; and reporting the collision instruction in real time.
The method comprises the steps of resolving original satellite observation data through a global satellite navigation system and differential services based on a continuous running satellite positioning service Reference station (CORS) network established by a multi-base station network RTK technology to obtain high-precision position information of a vehicle, wherein the high-precision position information is longitude and latitude information generally and can also be converted into a coordinate value of a space three-dimensional coordinate system, so that each high-precision position information corresponds to one position point, and each position point corresponds to one longitude and latitude information or the coordinate value. In high-precision positioning, high-precision position information is generally acquired at a frequency of once per second.
As shown in fig. 1, the rate of change of the vehicle heading angle is calculated by the formula:
Δθ＝|θ2-θ1|
wherein, theta2Indicating the vehicle heading angle, θ, at time t21Represents the vehicle heading angle at time t1, and Δ θ represents the rate of change of the vehicle heading angle in degrees per second at times t2 and t1, expressed as degrees per second.
Generally speaking, the rate of change of the vehicle heading angle can be obtained through settlement according to the vehicle heading angle of the position point corresponding to two continuous moments in the running track of the vehicle. When the vehicle is in a running state, the vehicle may have the situations of lane change and overtaking, reasonable swinging and road bending, the change rate of the vehicle heading angle should be changed within a reasonable range, if a collision occurs, the vehicle can greatly deviate from an original running route, and the change rate of the vehicle heading angle before and after the collision can be changed violently. Therefore, the first threshold of the change rate may be preset to 90 °, and the vehicle may be determined to have collided when the vehicle has undergone a drastic change of 90 ° in the front-rear driving direction at two consecutive moments, that is, the change rate of the vehicle heading angle is greater than 90 degrees/second, although those skilled in the art may also preset other values greater than 90 degrees/second for the first threshold according to the application environment or technical requirements.
After the collision information is generated, the collision information is reported to the server in real time, and generally speaking, the reported frequency is consistent with the frequency of acquiring high-precision position information during high-precision positioning.
In some embodiments, the driving state of the vehicle is judged according to a preset rule, and the driving state comprises a straight driving state and a curve driving state; and when the driving state is a straight driving state, if the change rate is greater than a second threshold value, generating a collision command.
The preset rule is to judge whether the vehicle is in a straight-line driving state or a curve driving state according to the known position point information of at least three nearest continuous time points. When the vehicle is in a straight-line driving state, the vehicle heading angles of the position points at two consecutive moments are consistent, so that the change rate of the vehicle heading angle is zero degrees/second, but in consideration of situations that the vehicle changes lane and overtakes, reasonably swings in driving and the like, and the possibility of misjudgment is reduced, the value of the second threshold value can be preset in a range of 0 degrees/second to 10 degrees/second, such as 3 degrees/second, 5 degrees/second or 7 degrees/second, in some cases, the second threshold value can also be consistent with the preset value of the first threshold value, and of course, a person skilled in the art can also preset other reasonable values according to application environments or technical requirements.
When the vehicle runs straight, the change rate is larger than a preset second threshold value, which indicates that a collision occurs, and then a collision instruction is generated.
In some embodiments, the driving state of the vehicle is judged according to a preset rule, and the driving state comprises a straight driving state and a curve driving state; and when the driving state is a curve driving state, if the change rate is larger than a third threshold value, generating a collision instruction.
The preset rule is to judge whether the vehicle is in a straight-line driving state or a curve driving state according to the known position point information of at least three nearest continuous time points. As shown in fig. 1, when the vehicle is in a curve driving state, the change rate of the vehicle heading angles of the position points at two consecutive times changes with the change of the speed, and at this time, the third threshold may be preset to a value same as the first threshold, that is, the third threshold is also preset to 90 degrees/second, and of course, those skilled in the art may also preset other values in a range of more than 90 degrees/second and less than 180 degrees/second according to actual situations or technical needs.
When the vehicle runs on a curve, the change rate is larger than a preset third threshold value, which indicates that a collision occurs, and then a collision instruction is generated.
In some embodiments, a distance value of each position point is calculated according to the high-precision position information; if the distance value is gradually increased along with the increase of time, an acceleration instruction is generated; in the process that the distance value is gradually increased along with the increase of time, if the distance value is smaller than a fourth threshold value, a collision instruction is generated; and after the distance value is gradually increased and is maintained to be a constant value, if the distance value is smaller than a fifth threshold value, generating a collision instruction.
The distance value of each position point is D, and when the vehicle is in the process of accelerating and gradually increasing the speed, the calculation formula is as follows:
D＝V·t+a·t·t/2
where t is the time interval of two consecutive times (in general, in the case of acquiring high-precision position information, the time interval is 1 second), in units of seconds; the maximum value of the automobile acceleration a does not exceed 1.2g in the process of gradual acceleration, and when the speed is accelerated to the maximum value of 120Km/h, the maximum value of the distance value D is 39.21m, so that the distance value gradually increases to 39.21m along with the increase of time, and the vehicle is accelerated to run, and an acceleration command is generated. Further, based on high-precision positioning, the positioning error is generally within a range of 1 meter, so the fourth threshold value may be preset to 1 meter, that is, when the distance value is smaller than the preset 1 meter in the process of gradually increasing the distance value to 39.21m, it indicates that a vehicle collision occurs, and then a collision instruction is generated. Of course, those skilled in the art may preset other values of about 1 meter, such as 1.2 meters, 1.5 meters, etc., according to actual conditions or technical needs.
After the distance value gradually increases with time to maintain a constant value (that is, the maximum value 39.21m may be maintained, or other values may be maintained), at this time, based on high-precision positioning, generally speaking, the positioning error is within a range of 1 meter, therefore, the fifth threshold may be set to a consistent value through the fourth threshold, for example, to 1 meter, that is, after the distance value gradually increases and maintains a relatively constant value, when the distance value is smaller than the preset 1 meter, it is indicated that a vehicle collision occurs, and then a collision instruction is generated. Of course, those skilled in the art may preset other values of about 1 meter, such as 1.1 meter, 1.4 meter, etc., according to actual conditions or technical needs.
In some embodiments, a distance value of each position point is calculated according to the high-precision position information; if the distance value is gradually reduced along with the increase of time, a deceleration instruction is generated; and when the distance value is smaller than a sixth threshold value, generating a stop instruction.
The distance value of each position point is D, and when the speed is in the process of reducing, the calculation formula is as follows:
D＝V·t-a·t·t/2
where t is the time interval of two consecutive times (in general, in the case of acquiring high-precision position information, the time interval is 1 second), in units of seconds; the maximum value of the acceleration a of the automobile in the gradual acceleration process is not more than 0.6g, and under the condition that the speed is gradually reduced from the maximum value of 120Km/h, the maximum value of the distance value D is calculated to be 30.39 m. Therefore, in the process that the distance value gradually increases and decreases from 30.39m along with the time, the vehicle is decelerating and driving, and a deceleration instruction is generated. At this time, based on high-precision positioning, generally speaking, the positioning error is within a range of 1 meter, therefore, the sixth threshold may be set to a consistent value by the fourth threshold and the fifth threshold, for example, preset to 1 meter, that is, when the distance value is smaller than the preset 1 meter in the process that the distance value is gradually reduced, it indicates that the vehicle gradually decelerates to a stop, and then a stop instruction is generated. Of course, the skilled person may preset the sixth threshold to other values around 1 meter, for example, 1.3 meters, 1.4 meters, etc., according to actual situations or technical needs.
In some embodiments, if the distance value is less than a seventh threshold after lasting for the first length of time, a collision determination instruction is generated.
In order to reduce the possibility of erroneous determination, after the collision instruction is generated, the change of the distance value is continuously monitored, so that the first time length is the time length for continuously monitoring after the collision instruction is generated, generally, the first time length may be preset to several minutes, such as one minute, five minutes or ten minutes, and the like, or may be preset to several tens of seconds, such as 15 seconds, 30 seconds, 40 seconds, and the like, and those skilled in the art may set other values according to technical needs.
After the first duration, if the distance value is smaller than the seventh threshold, it is determined that the vehicle actually collides, and a collision determination instruction is generated, therefore, the seventh threshold may be set to a consistent value through the fourth threshold, the fifth threshold and the sixth threshold, for example, preset to 1 meter, that is, after the first duration, if the monitored distance value is smaller than the preset 1 meter, it is determined that the vehicle does not move within the first duration, it may be determined that the vehicle actually collides, and then a collision determination instruction is generated. Of course, those skilled in the art may preset other values of about 1 meter, such as 1.1 meter, 1.3 meters, etc., according to actual conditions or technical needs.
In some embodiments, if the distance value is greater than the eighth threshold after lasting for the second duration, a collision misjudgment instruction is generated.
In order to reduce the possibility of erroneous determination, after the collision instruction is generated, the change of the distance value is continuously monitored, so that the second time length is the time length for continuously monitoring after the collision instruction is generated, generally speaking, the first time length may be consistent with the first time length, may be preset to several minutes, such as one minute, five minutes or ten minutes, and the like, and may also be preset to several tens of seconds, such as 15 seconds, 30 seconds, 40 seconds, and the like, and the first time length may also be inconsistent with the first time length, and those skilled in the art may set other values according to technical needs.
And if the distance value is larger than the eighth threshold value after the second duration, the vehicle is not collided, and if only emergency braking is performed, a collision misjudgment instruction is generated.
However, considering that no collision occurs after the emergency braking, the vehicle will continue to run, so the set eighth threshold is only required to be greater than the seventh threshold, and may be preset to ten meters or several tens of meters in general, or hundreds of meters in general, that is, after the second time period, the distance value is greater than the preset eighth threshold, which indicates that the vehicle has moved after the second time period when the collision instruction is generated, so that it can be determined that the vehicle has not collided, and then the collision misjudgment instruction is generated. Of course, the person skilled in the art may preset the eighth threshold to other reasonable values, such as 1 km, 1.5 km, etc., according to practical situations or technical needs.
In some embodiments, the instruction is reported to a server in real time, and the server generates early warning information according to the instruction and broadcasts the early warning information to other vehicles.
The collision instruction is reported to the server in real time through the network, and the server generates corresponding early warning information according to the collision instruction and broadcasts the early warning information to other vehicles running on the same road as the vehicle, so that the analysis of the road condition is facilitated, early warning is performed in advance, and the occurrence of secondary collision is avoided.
In some embodiments, the video recording and the photographing programs are triggered simultaneously according to the vehicle collision instruction.
After the collision instruction is generated, a video recording program and a photographing program are triggered simultaneously for facilitating on-site evidence collection and storage.
On the other hand, the invention also discloses vehicle monitoring equipment based on high-precision positioning, which comprises the following modules: the device comprises a high-precision positioning module, a resolving module, a processor and a reporting module; the high-precision positioning module is used for acquiring high-precision position information of the vehicle; the resolving module is used for continuously calculating the change rate of the vehicle course angle of the position points corresponding to two continuous moments according to the high-precision position information; the processor is used for generating a collision instruction when the change rate is larger than a first threshold value; and the reporting module is used for reporting the collision instruction in real time.
The various embodiments or features mentioned herein may be combined with each other as additional alternative embodiments without conflict, within the knowledge and ability level of those skilled in the art, and a limited number of alternative embodiments formed by a limited number of combinations of features not listed above are still within the scope of the present disclosure, as understood or inferred by those skilled in the art from the figures and above.
Finally, it is emphasized that the above-mentioned embodiments, which are typical and preferred embodiments of the present invention, are only used for explaining and explaining the technical solutions of the present invention in detail for the convenience of the reader, and are not used to limit the protection scope or application of the present invention.
Therefore, any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. A vehicle monitoring method based on high-precision positioning is characterized in that: the method comprises the following steps:
acquiring high-precision position information of the vehicle;
continuously calculating the change rate of the vehicle course angle of the position points corresponding to two continuous moments according to the high-precision position information, and if the change rate is greater than a first threshold value, generating a collision instruction;
and reporting the collision instruction in real time.
2. The method of claim 1, wherein:
judging the driving state of the vehicle according to a preset rule, wherein the driving state comprises a straight line driving state and a curve driving state;
and when the driving state is a straight driving state, if the change rate is greater than a second threshold value, generating a collision command.
3. The method of claim 1, wherein:
judging the driving state of the vehicle according to a preset rule, wherein the driving state comprises a straight line driving state and a curve driving state;
and when the driving state is a curve driving state, if the change rate is larger than a third threshold value, generating a collision instruction.
4. The method of claim 1, wherein:
calculating the distance value of each position point according to the high-precision position information;
if the distance value is gradually increased along with the increase of time, an acceleration instruction is generated;
in the process that the distance value is gradually increased along with the increase of time, if the distance value is smaller than a fourth threshold value, a collision instruction is generated;
and after the distance value is gradually increased and is maintained to be a constant value, if the distance value is smaller than a fifth threshold value, generating a collision instruction.
5. The method of claim 1, wherein:
calculating the distance value of each position point according to the high-precision position information;
if the distance value is gradually reduced along with the increase of time, a deceleration instruction is generated;
and when the distance value is smaller than a sixth threshold value, generating a stop instruction.
6. The method according to any one of claims 4 to 5, wherein:
and if the distance value is less than a seventh threshold value after lasting for the first duration, generating a collision determination instruction.
7. The method according to any one of claims 4 to 5, wherein:
and if the distance value is greater than an eighth threshold value after lasting for the second duration, generating a collision misjudgment instruction.
8. The method according to any one of claims 1 to 5, wherein:
and reporting the instruction to a server in real time, and generating early warning information according to the instruction and broadcasting the early warning information to other vehicles by the server.
9. The method of claim 1, wherein:
and simultaneously triggering a video recording program and a photographing program according to the vehicle collision instruction.
10. The utility model provides a vehicle monitoring equipment based on high accuracy location which characterized in that:
the monitoring equipment comprises a high-precision positioning module, a resolving module, a processor and a reporting module;
the high-precision positioning module is used for acquiring high-precision position information of the vehicle;
the resolving module is used for continuously calculating the change rate of the vehicle course angle of the position points corresponding to two continuous moments according to the high-precision position information;
the processor is used for generating a collision instruction when the change rate is larger than a first threshold value;
and the reporting module is used for reporting the collision instruction in real time.
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| CN112235377A (en) * | 2020-09-30 | 2021-01-15 | 深圳市元征科技股份有限公司 | Vehicle position information reporting method, device, equipment and storage medium |
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| CN207123333U (en) * | 2017-04-28 | 2018-03-20 | 深圳乐行天下科技有限公司 | Collision detecting device and there is its robot |
| CN108466616A (en) * | 2018-03-22 | 2018-08-31 | 广东翼卡车联网服务有限公司 | A kind of method, storage medium and the car-mounted terminal of automatic identification collision accident |
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| CN112235377B (en) * | 2020-09-30 | 2024-04-02 | 深圳市元征科技股份有限公司 | Method, device, equipment and storage medium for reporting vehicle position information |
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