CN111208546A - Vehicle positioning data acquisition method and device, vehicle-mounted equipment and storage medium - Google Patents
Vehicle positioning data acquisition method and device, vehicle-mounted equipment and storage medium Download PDFInfo
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- CN111208546A CN111208546A CN201911370546.5A CN201911370546A CN111208546A CN 111208546 A CN111208546 A CN 111208546A CN 201911370546 A CN201911370546 A CN 201911370546A CN 111208546 A CN111208546 A CN 111208546A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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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
- G01C21/16—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 by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—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 by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
Abstract
The application discloses a vehicle positioning data acquisition method, a vehicle positioning data acquisition device, a vehicle-mounted device and a storage medium, wherein the method comprises the following steps: receiving positioning data of a vehicle and detecting whether the vehicle is in a running state; when the vehicle is in a running state, judging whether the running state of the vehicle is abnormal or not according to the positioning data; when the driving state of the vehicle is abnormal, filtering the positioning data; and when the running state of the vehicle is not abnormal, the positioning data is sent to a server. The method provided by the application can acquire more accurate positioning data, so that the subsequent vehicle running track formed by the acquired positioning data has no drift phenomenon, and the running track is smooth and accurate.
Description
Technical Field
The present application relates to the technical field of positioning data processing, and in particular, to a method and an apparatus for acquiring vehicle positioning data, a vehicle-mounted device, and a storage medium.
Background
The satellite positioning technology refers to a positioning technology for determining the position of a receiver by using two-way communication of a satellite and the receiver. Common scenes utilizing the satellite positioning technology are the recording of travel tracks when the vehicle travels outdoors and the recording of travel tracks when the vehicle travels.
However, in the process of recording the driving track of the vehicle, when the positioning signal is weak, such as in a dense building, the positioning data acquired by the receiver is inaccurate, so that the positioning effect is not ideal, the driving track of the vehicle drifts, the due effect of the positioning data cannot be achieved, even the problem of error recording of the driving track caused by error of the positioning data is solved, when the user inquires the driving track of the vehicle on the platform, the user can easily see that the vehicle stops, and when the driving track or red lights such as an intersection are provided, the vehicle track drifts to the outside of other roads, so that the user experience is greatly influenced.
Therefore, how to acquire effective positioning data is a hot topic that those skilled in the art are studying.
Disclosure of Invention
The application mainly aims to provide a vehicle positioning data acquisition method and device, vehicle-mounted equipment and a storage medium.
In order to achieve the above object, the present application provides a vehicle positioning data acquiring method, which applies a vehicle-mounted device, and the method includes:
receiving positioning data of a vehicle and detecting whether the vehicle is in a running state;
when the vehicle is in a running state, judging whether the running state of the vehicle is abnormal or not according to the positioning data;
when the driving state of the vehicle is abnormal, filtering the positioning data;
and when the running state of the vehicle is not abnormal, the positioning data is sent to a server.
Preferably, the detecting whether the vehicle is in a running state includes:
acquiring the running speed of the vehicle;
judging whether the running speed exceeds a speed threshold value;
and when the running speed exceeds the speed threshold value, judging that the vehicle is in a running state.
Preferably, the abnormal driving state includes abnormal driving distance, and the determining whether the driving state of the vehicle is abnormal according to the positioning data includes:
calculating the average running distance of the vehicle in preset time and the current running distance of the vehicle at the current moment according to the positioning data;
judging whether the average driving distance exceeds a first distance threshold value or not and whether the current driving distance exceeds a second distance threshold value or not;
when the average running distance exceeds the first distance threshold value and the current running distance exceeds the second distance threshold value, judging that the running state of the vehicle is abnormal;
and when the average driving distance does not exceed the first distance threshold or the current driving distance does not exceed the second distance threshold, judging that the driving state of the vehicle is not abnormal.
Preferably, the abnormal driving state includes an abnormal course angle, and the determining whether the driving state of the vehicle is abnormal according to the positioning data includes:
acquiring current course angle data of the vehicle according to the positioning data;
judging whether the current course angle of the vehicle exceeds a first angle value according to the current course angle data;
when the current course angle exceeds the first angle value, acquiring course angle data of the vehicle at the next moment;
judging whether the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle or not according to the course angle data at the next moment, and whether the course angle at the next moment exceeds a second angle value or not;
when the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle and the course angle at the next moment exceeds a second angle value, judging that the running state of the vehicle is abnormal;
and when the direction of the course angle of the vehicle at the next moment is the same as the direction of the current course angle, or the course angle at the next moment does not exceed the second angle value, judging that the running state of the vehicle is not abnormal.
Preferably, the abnormal driving state includes abnormal driving distance and abnormal course angle, and the determining whether the driving state of the vehicle is abnormal according to the positioning data includes:
calculating the average running distance of the vehicle in preset time and the current running distance of the vehicle at the current moment according to the positioning data;
judging whether the average driving distance exceeds a first distance threshold value or not and whether the current driving distance exceeds a second distance threshold value or not;
when the average running distance exceeds the first distance threshold value and the current running distance exceeds the second distance threshold value, judging that the running state of the vehicle is abnormal;
when the average driving distance does not exceed the first distance threshold or the current driving distance does not exceed the second distance threshold, acquiring current course angle data of the vehicle according to the positioning data;
judging whether the current course angle of the vehicle exceeds a first angle value according to the current course angle data;
when the current course angle exceeds the first angle value, acquiring course angle data of the vehicle at the next moment;
judging whether the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle or not according to the course angle data at the next moment, and whether the course angle at the next moment exceeds a second angle value or not;
when the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle and the course angle at the next moment exceeds a second angle value, judging that the running state of the vehicle is abnormal;
and when the direction of the course angle of the vehicle at the next moment is the same as the direction of the current course angle, or the course angle at the next moment does not exceed the second angle value, judging that the running state of the vehicle is not abnormal.
Preferably, the obtaining of the heading angle data of the vehicle at the next moment comprises:
acquiring positioning data of the next moment;
and analyzing corresponding course angle data of the next moment according to the positioning data of the next moment.
The application also provides a vehicle positioning data acquisition device, is applied to the mobile unit, vehicle positioning data acquisition device includes:
the driving detection module is used for receiving positioning data of a vehicle and detecting whether the vehicle is in a driving state;
the state detection module is used for judging whether the driving state of the vehicle is abnormal or not according to the positioning data when the vehicle is in the driving state;
the data filtering module is used for filtering the positioning data when the driving state of the vehicle is abnormal;
and the data sending module is used for sending the positioning data to a server when the running state of the vehicle is not abnormal.
Preferably, the driving detection module is further configured to:
acquiring the running speed of the vehicle;
judging whether the running speed exceeds a speed threshold value;
and when the running speed exceeds the speed threshold value, judging that the vehicle is in a running state.
Preferably, the driving state abnormality includes a driving distance abnormality, and the state detection module is further configured to:
calculating the average running distance of the vehicle in preset time and the current running distance of the vehicle at the current moment according to the positioning data;
judging whether the average driving distance exceeds a first distance threshold value or not and whether the current driving distance exceeds a second distance threshold value or not;
when the average running distance exceeds the first distance threshold value and the current running distance exceeds the second distance threshold value, judging that the running state of the vehicle is abnormal;
and when the average driving distance does not exceed the first distance threshold or the current driving distance does not exceed the second distance threshold, judging that the driving state of the vehicle is not abnormal.
Preferably, the driving state abnormality includes a heading angle abnormality, and the state detection module is further configured to:
acquiring current course angle data of the vehicle according to the positioning data;
judging whether the current course angle of the vehicle exceeds a first angle value according to the current course angle data;
when the current course angle exceeds the first angle value, acquiring course angle data of the vehicle at the next moment;
judging whether the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle or not according to the course angle data at the next moment, and whether the course angle at the next moment exceeds a second angle value or not;
when the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle and the course angle at the next moment exceeds a second angle value, judging that the running state of the vehicle is abnormal;
and when the direction of the course angle of the vehicle at the next moment is the same as the direction of the current course angle, or the course angle at the next moment does not exceed the second angle value, judging that the running state of the vehicle is not abnormal.
Preferably, the driving state abnormality includes a driving distance abnormality and a heading angle abnormality, and the state detection module is further configured to:
calculating the average running distance of the vehicle in preset time and the current running distance of the vehicle at the current moment according to the positioning data;
judging whether the average driving distance exceeds a first distance threshold value or not and whether the current driving distance exceeds a second distance threshold value or not;
when the average running distance exceeds the first distance threshold value and the current running distance exceeds the second distance threshold value, judging that the running state of the vehicle is abnormal;
when the average driving distance does not exceed the first distance threshold or the current driving distance does not exceed the second distance threshold, acquiring current course angle data of the vehicle according to the positioning data;
judging whether the current course angle of the vehicle exceeds a first angle value according to the current course angle data;
when the current course angle exceeds the first angle value, acquiring course angle data of the vehicle at the next moment;
judging whether the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle or not according to the course angle data at the next moment, and whether the course angle at the next moment exceeds a second angle value or not;
when the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle and the course angle at the next moment exceeds a second angle value, judging that the running state of the vehicle is abnormal;
and when the direction of the course angle of the vehicle at the next moment is the same as the direction of the current course angle, or the course angle at the next moment does not exceed the second angle value, judging that the running state of the vehicle is not abnormal. Preferably, the status detection module is further configured to:
acquiring positioning data of the next moment;
and analyzing corresponding course angle data of the next moment according to the positioning data of the next moment.
The present application further provides a vehicle-mounted device, the vehicle-mounted device includes:
a memory for storing a computer-executable vehicle location data acquisition program;
the processor is configured to invoke a vehicle positioning data acquisition program stored in the memory to execute the aforementioned vehicle positioning data acquisition method.
The present application also provides a storage medium storing a vehicle positioning data acquisition program, and when the processor calls the vehicle positioning data acquisition program, the aforementioned vehicle positioning data acquisition method can be executed.
Compared with the prior art, the vehicle positioning data acquisition method provided by the application receives the positioning data of the vehicle and detects whether the vehicle is in a running state; when the vehicle is in a running state, judging whether the running state of the vehicle is abnormal or not according to the positioning data; when the driving state of the vehicle is abnormal, filtering the positioning data; when the running state of the vehicle is not abnormal, the positioning data is sent to the server, so that the server can obtain more accurate positioning data, the subsequent vehicle running track formed by the obtained positioning data has no drift phenomenon, and the running track is smooth and accurate.
Drawings
FIG. 1 is a flowchart illustrating steps of a method for acquiring vehicle positioning data according to the present disclosure;
FIG. 2 is a flow diagram of sub-steps of one embodiment of step S1 of FIG. 1;
FIG. 3 is a flow diagram of sub-steps of one embodiment of step S2 of FIG. 1;
FIG. 4A is a flow diagram of sub-steps of one embodiment of step S2 of FIG. 1;
FIG. 4B is a schematic diagram of a change in a corresponding heading angle of the vehicle during a turn;
FIG. 5 is a flow diagram of sub-steps of one embodiment of step S2 of FIG. 1;
FIG. 6 is a block diagram of a vehicle positioning data acquiring apparatus according to an embodiment of the present application;
fig. 7 is a block diagram of a structure of an in-vehicle device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It should be noted that the descriptions in this application referring to "first", "second", etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
The application provides a vehicle positioning data acquisition method, a vehicle positioning data acquisition device and vehicle-mounted equipment, wherein the vehicle positioning data acquisition method is applied to the vehicle-mounted equipment, and the method comprises the steps of receiving positioning data of a vehicle and detecting whether the vehicle is in a running state or not; when the vehicle is in a running state, judging whether the running state of the vehicle is abnormal or not according to the positioning data; when the driving state of the vehicle is abnormal, filtering the positioning data; and when the running state of the vehicle is not abnormal, the positioning data is sent to a server.
The method provided by the application eliminates the abnormal positioning data acquired by the vehicle in the abnormal state through at least twice positioning data filtering, thereby acquiring more accurate positioning data, so that the subsequent vehicle running track formed by the acquired positioning data has no drift phenomenon, and the running track is smooth and accurate.
Referring to fig. 1, fig. 1 shows a vehicle positioning data obtaining method provided by the present application, which is applied to a vehicle-mounted device, where the vehicle-mounted device is an electronic device installed or placed On a vehicle and communicatively connected to the vehicle, such as an On-board diagnostic (OBD) device, a vehicle-mounted bus device, and a vehicle-mounted navigation device.
As shown in fig. 1, the vehicle positioning data acquisition method includes:
step S1: the method comprises the steps of receiving positioning data of a vehicle and detecting whether the vehicle is in a running state.
The vehicle-mounted device receives the positioning data sent by the positioning device, and detects whether the vehicle mounted with the vehicle-mounted device is in a running state, wherein the positioning device can be a GPS positioning device or a beidou positioning device, and the positioning device can be arranged in the vehicle-mounted device, or can be mounted in the vehicle and in communication connection with the vehicle-mounted device, which is not limited herein.
Referring to fig. 2, the detecting whether the vehicle is in a driving state includes:
step S11: acquiring the running speed of the vehicle;
step S12: judging whether the running speed exceeds a speed threshold value;
step S13: and when the running speed exceeds the speed threshold value, judging that the vehicle is in a running state.
Illustratively, the vehicle-mounted device reads the current travel speed through the CAN bus, determines that the vehicle is in a travel state if the current travel speed exceeds a speed threshold, such as 0m/S, and performs step S2.
If the current driving speed does not exceed the speed threshold, the vehicle is in a static state, and the acquired positioning data is discarded.
Step S2: and when the vehicle is in a running state, judging whether the running state of the vehicle is abnormal or not according to the positioning data, executing step S3 when the running state of the vehicle is abnormal, and executing step S4 when the running state of the vehicle is not abnormal.
When the running state of the vehicle is abnormal, there may be an abnormality in the positioning data acquired by the positioning device.
Referring to fig. 3, in some embodiments, the abnormal driving state includes abnormal driving distance, and the determining whether the driving state of the vehicle is abnormal according to the positioning data includes:
step S21 a: calculating the average running distance of the vehicle in preset time and the current running distance of the vehicle at the current moment according to the positioning data;
step S22 a: judging whether the average driving distance exceeds a first distance threshold value or not and whether the current driving distance exceeds a second distance threshold value or not;
step S23 a: when the average running distance exceeds the first distance threshold value and the current running distance exceeds the second distance threshold value, judging that the running state of the vehicle is abnormal;
step S24 a: and when the average driving distance does not exceed the first distance threshold or the current driving distance does not exceed the second distance threshold, judging that the driving state of the vehicle is not abnormal.
Illustratively, the vehicle-mounted device is configured to obtain the latest N times of positioning data from the positioning data, where N is a positive integer, e.g., N is 4, 5, 6, 7, and N is 5.
Through the latest 5-time acquired positioning data, the average driving distance Savg of the vehicle in the time period corresponding to the latest 5-time acquired positioning data is calculated, the current driving distance Sc of the vehicle is calculated according to the currently received positioning data and the positioning data received at the last moment, whether the average driving distance Savg exceeds a first distance threshold value or not is judged, whether the current driving distance Sc exceeds a second distance threshold value or not is judged, and the first distance threshold value and the second distance threshold value can be set as required.
When the average travel distance Savg exceeds the first distance threshold and the current travel distance Sc exceeds the second distance threshold, it is determined that the travel state of the vehicle is abnormal, that is, the positioning data received in the time period is abnormal, and step S3 is executed.
When the average travel distance Savg does not exceed the first distance threshold or the current travel distance Sc does not exceed the second distance threshold, it is determined that there is no abnormality in the travel state of the vehicle, and step S4 is executed.
Referring to fig. 4A, in some embodiments, the determining whether the driving state of the vehicle is abnormal according to the positioning data includes:
step S21 b: acquiring current course angle data of the vehicle according to the positioning data;
step S22 b: judging whether the current course angle of the vehicle exceeds a first angle value according to the current course angle data;
step S23 b: when the current course angle exceeds the first angle value, acquiring course angle data of the vehicle at the next moment;
step S24 b: judging whether the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle or not according to the course angle data at the next moment, and whether the course angle at the next moment exceeds a second angle value or not;
step S25 b: when the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle and the course angle at the next moment exceeds a second angle value, judging that the running state of the vehicle is abnormal;
step S26 b: and when the direction of the course angle of the vehicle at the next moment is the same as the direction of the current course angle, or the course angle at the next moment does not exceed the second angle value, judging that the running state of the vehicle is not abnormal.
Wherein the obtaining of the course angle data of the vehicle at the next moment comprises:
acquiring positioning data of the next moment;
and analyzing corresponding course angle data of the next moment according to the positioning data of the next moment.
Illustratively, the positioning data for the vehicle includes current vehicle position data, such as longitude and latitude data, and heading angle data for the vehicle currently traveling.
The vehicle-mounted equipment analyzes course angle data of the vehicle at corresponding time according to the acquired current positioning data of the vehicle, and can know whether the current vehicle running state is abnormal or not by analyzing the course angle data of two adjacent time points.
As shown in fig. 4B, the vehicle-mounted device can obtain the change of the heading angle θ of the vehicle through the heading angle data, associate the heading angle θ with the vehicle running state, and obtain that the current vehicle running state is straight running, turning around or abnormal running by analyzing the change of the heading angle θ.
For example, the heading angle θ is maintained within the preset angle range per unit time, indicating that the vehicle is traveling in a straight line.
The variation of the course angle theta in unit time is within the preset angle value, which indicates that the vehicle is in a turning or turning state.
If the variation of the course angle theta in unit time exceeds the preset angle value, the vehicle is indicated to be in abnormal running.
As shown in fig. 4B, during the vehicle travels from the position 1 to the position 4, the heading angle θ is gradually increased in unit time, and the variation amount of the heading angle θ is within a preset range, indicating that the vehicle is in a turning or u-turn state.
Wherein, the step of judging whether the vehicle is abnormal or not may be that whether the current course angle exceeds a first angle value or not is judged according to the analyzed course angle data, and the first angle value may also be set as required, for example, the first angle value is 50 °.
And when the current course angle exceeds the first angle value, acquiring course angle data of the vehicle at the next moment, and judging whether the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle or not according to the course angle data of the next moment and whether the course angle at the next moment exceeds a second angle value, wherein the second angle value is 40 degrees.
When the direction of the heading angle of the vehicle at the next moment is opposite to the direction of the current heading angle and the heading angle at the next moment exceeds the second angle value, it is determined that the heading angle of the vehicle during running is abnormal, that is, it is determined that the running state of the vehicle is abnormal, and step S3 is executed.
When the direction of the heading angle of the vehicle at the next moment is the same as the direction of the current heading angle, or the heading angle at the next moment does not exceed the second angle value, it is determined that the heading angle of the vehicle during running is not abnormal, that is, it is determined that the running state of the vehicle is not abnormal, and step S4 is executed.
Referring to fig. 5, in some embodiments, the abnormal driving status includes abnormal driving distance and abnormal heading angle, and the determining whether the driving status of the vehicle is abnormal according to the positioning data includes:
step S21 c: calculating the average running distance of the vehicle in preset time and the current running distance of the vehicle at the current moment according to the positioning data;
step S22 c: judging whether the average driving distance exceeds a first distance threshold value or not and whether the current driving distance exceeds a second distance threshold value or not;
step S23 c: when the average running distance exceeds the first distance threshold value and the current running distance exceeds the second distance threshold value, judging that the running state of the vehicle is abnormal;
step S24 c: when the average driving distance does not exceed the first distance threshold or the current driving distance does not exceed the second distance threshold, acquiring current course angle data of the vehicle according to the positioning data;
step S25 c: judging whether the current course angle of the vehicle exceeds a first angle value according to the current course angle data;
step S26 c: when the current course angle exceeds the first angle value, acquiring course angle data of the vehicle at the next moment;
step S27 c: judging whether the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle or not according to the course angle data at the next moment, and whether the course angle at the next moment exceeds a second angle value or not;
step S28 c: when the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle and the course angle at the next moment exceeds a second angle value, judging that the running state of the vehicle is abnormal;
step S29 c: and when the direction of the course angle of the vehicle at the next moment is the same as the direction of the current course angle, or the course angle at the next moment does not exceed the second angle value, judging that the running state of the vehicle is not abnormal.
Wherein the obtaining of the course angle data of the vehicle at the next moment comprises:
acquiring positioning data of the next moment;
and analyzing corresponding course angle data of the next moment according to the positioning data of the next moment.
Illustratively, the vehicle-mounted device is configured to obtain the latest N times of positioning data from the positioning data, where N is a positive integer, e.g., N is 4, 5, 6, 7, and N is 5.
Through the latest 5-time acquired positioning data, the average driving distance Savg of the vehicle in the time period corresponding to the latest 5-time acquired positioning data is calculated, the current driving distance Sc of the vehicle is calculated according to the currently received positioning data and the positioning data received at the last moment, whether the average driving distance Savg exceeds a first distance threshold value or not is judged, whether the current driving distance Sc exceeds a second distance threshold value or not is judged, and the first distance threshold value and the second distance threshold value can be set as required.
When the average travel distance Savg exceeds the first distance threshold and the current travel distance Sc exceeds the second distance threshold, it is determined that the travel state of the vehicle is abnormal, that is, the positioning data received in the time period is abnormal, and step S3 is executed.
When the average driving distance Savg does not exceed the first distance threshold or the current driving distance Sc does not exceed the second distance threshold, the vehicle-mounted device analyzes course angle data of the vehicle at corresponding time according to the acquired positioning data, and judges whether the current course angle exceeds a first angle value according to the analyzed course angle data, wherein the first angle value can be set according to needs, and if the first angle value is 50 degrees.
And when the current course angle exceeds the first angle value, acquiring course angle data of the vehicle at the next moment, and judging whether the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle or not according to the course angle data of the next moment and whether the course angle at the next moment exceeds a second angle value, wherein the second angle value is 40 degrees.
When the direction of the heading angle of the vehicle at the next moment is opposite to the direction of the current heading angle and the heading angle at the next moment exceeds the second angle value, it is determined that the heading angle of the vehicle during running is abnormal, that is, it is determined that the running state of the vehicle is abnormal, and step S3 is executed.
When the direction of the heading angle of the vehicle at the next moment is the same as the direction of the current heading angle, or the heading angle at the next moment does not exceed the second angle value, it is determined that the heading angle of the vehicle during running is not abnormal, that is, it is determined that the running state of the vehicle is not abnormal, and step S4 is executed.
Step S3: and when the driving state of the vehicle is abnormal, filtering the positioning data.
When the driving state of the vehicle is abnormal, the acquired positioning data may be abnormal, and the positioning data needs to be filtered, wherein the acquired positioning data can be deleted by filtering the positioning data, or the abnormal positioning data is not locally stored.
Step S4: and when the course angle of the vehicle in running is not abnormal, the positioning data is sent to a server.
When the course angle of the vehicle during running is not abnormal, the fact that the obtained positioning data are accurate is indicated, and the vehicle-mounted equipment sends the obtained positioning data to the server.
Referring to fig. 6, the present application further provides a vehicle positioning data obtaining apparatus 101, where the vehicle positioning data obtaining apparatus 101 is applied to a vehicle-mounted device, and the vehicle positioning data obtaining apparatus 101 includes:
a driving detection module 1011, configured to receive positioning data of a vehicle and detect whether the vehicle is in a driving state;
a state detection module 1012, configured to determine whether the driving state of the vehicle is abnormal according to the positioning data when the vehicle is in the driving state;
the data filtering module 1013 is configured to filter the positioning data when the driving state of the vehicle is abnormal;
a data sending module 1014, configured to send the positioning data to a server when the driving state of the vehicle is not abnormal.
In some embodiments, the driving detection module 1011 is further configured to:
acquiring the running speed of the vehicle;
judging whether the running speed exceeds a speed threshold value;
and when the running speed exceeds the speed threshold value, judging that the vehicle is in a running state.
In some embodiments, the driving condition abnormality includes a driving distance abnormality, and the condition detecting module 1012 is further configured to:
calculating the average running distance of the vehicle in preset time and the current running distance of the vehicle at the current moment according to the positioning data;
judging whether the average driving distance exceeds a first distance threshold value or not and whether the current driving distance exceeds a second distance threshold value or not;
when the average running distance exceeds the first distance threshold value and the current running distance exceeds the second distance threshold value, judging that the running state of the vehicle is abnormal;
and when the average driving distance does not exceed the first distance threshold or the current driving distance does not exceed the second distance threshold, judging that the driving state of the vehicle is not abnormal.
In some embodiments, the driving condition anomaly comprises a heading angle anomaly, and the condition detection module 1012 is further configured to:
acquiring current course angle data of the vehicle according to the positioning data;
judging whether the current course angle of the vehicle exceeds a first angle value according to the current course angle data;
when the current course angle exceeds the first angle value, acquiring course angle data of the vehicle at the next moment;
judging whether the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle or not according to the course angle data at the next moment, and whether the course angle at the next moment exceeds a second angle value or not;
when the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle and the course angle at the next moment exceeds a second angle value, judging that the running state of the vehicle is abnormal;
and when the direction of the course angle of the vehicle at the next moment is the same as the direction of the current course angle, or the course angle at the next moment does not exceed the second angle value, judging that the running state of the vehicle is not abnormal.
In some embodiments, the driving condition anomalies include a distance traveled anomaly and a heading angle anomaly, and the condition detection module 1012 is further configured to:
calculating the average running distance of the vehicle in preset time and the current running distance of the vehicle at the current moment according to the positioning data;
judging whether the average driving distance exceeds a first distance threshold value or not and whether the current driving distance exceeds a second distance threshold value or not;
when the average running distance exceeds the first distance threshold value and the current running distance exceeds the second distance threshold value, judging that the running state of the vehicle is abnormal;
when the average driving distance does not exceed the first distance threshold or the current driving distance does not exceed the second distance threshold, acquiring current course angle data of the vehicle according to the positioning data;
judging whether the current course angle of the vehicle exceeds a first angle value according to the current course angle data;
when the current course angle exceeds the first angle value, acquiring course angle data of the vehicle at the next moment;
judging whether the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle or not according to the course angle data at the next moment, and whether the course angle at the next moment exceeds a second angle value or not;
when the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle and the course angle at the next moment exceeds a second angle value, judging that the running state of the vehicle is abnormal;
and when the direction of the course angle of the vehicle at the next moment is the same as the direction of the current course angle, or the course angle at the next moment does not exceed the second angle value, judging that the running state of the vehicle is not abnormal.
In some embodiments, the status detection module 1012 is further configured to:
acquiring positioning data of the next moment;
and analyzing corresponding course angle data of the next moment according to the positioning data of the next moment.
Referring to fig. 7, the present application further provides an in-vehicle device 30, where the in-vehicle device 30 includes a memory 301 and a processor 302 communicatively connected to the memory 301.
The memory 301 includes at least one type of readable storage medium, which includes flash memory, hard disk, multi-media card, card type memory (e.g., SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, and the like. The memory 301 may be an internal memory of the in-vehicle device 30 in some embodiments, such as a hard disk of the in-vehicle device 30. The memory 301 may be an external storage device of the in-vehicle device 30 in other embodiments, such as a plug-in hard disk provided on the in-vehicle device 30, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like.
The memory 301 may be used not only to store application software installed in the in-vehicle device 30 and various types of data, such as codes of a computer-readable program, but also to temporarily store data that has been output or is to be output, that is, the first memory may be used as a storage medium that stores a computer-executable vehicle-positioning-data acquiring program.
The processor 302 may be a Central Processing Unit (CPU), controller, microcontroller, microprocessor or other data Processing chip in some embodiments, and the processor 302 may call the vehicle location data acquisition program stored in the memory 301 to perform the following method steps:
receiving positioning data of a vehicle and detecting whether the vehicle is in a running state;
when the vehicle is in a running state, judging whether the running state of the vehicle is abnormal or not according to the positioning data;
when the driving state of the vehicle is abnormal, filtering the positioning data;
and when the running state of the vehicle is not abnormal, the positioning data is sent to a server.
In some embodiments, the processor 302 is further configured to perform the following method steps:
acquiring the running speed of the vehicle;
judging whether the running speed exceeds a speed threshold value;
and when the running speed exceeds the speed threshold value, judging that the vehicle is in a running state.
In some embodiments, the driving condition abnormality includes a distance traveled abnormality, and the processor 302 is further configured to perform the following method steps:
calculating the average running distance of the vehicle in preset time and the current running distance of the vehicle at the current moment according to the positioning data;
judging whether the average driving distance exceeds a first distance threshold value or not and whether the current driving distance exceeds a second distance threshold value or not;
when the average running distance exceeds the first distance threshold value and the current running distance exceeds the second distance threshold value, judging that the running state of the vehicle is abnormal;
and when the average driving distance does not exceed the first distance threshold or the current driving distance does not exceed the second distance threshold, judging that the driving state of the vehicle is not abnormal.
In some embodiments, the driving condition anomaly comprises a heading angle anomaly, and the processor 302 is further configured to perform the following method steps:
acquiring current course angle data of the vehicle according to the positioning data;
judging whether the current course angle of the vehicle exceeds a first angle value according to the current course angle data;
when the current course angle exceeds the first angle value, acquiring course angle data of the vehicle at the next moment;
judging whether the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle or not according to the course angle data at the next moment, and whether the course angle at the next moment exceeds a second angle value or not;
when the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle and the course angle at the next moment exceeds a second angle value, judging that the running state of the vehicle is abnormal;
and when the direction of the course angle of the vehicle at the next moment is the same as the direction of the current course angle, or the course angle at the next moment does not exceed the second angle value, judging that the running state of the vehicle is not abnormal.
In some embodiments, the driving condition anomalies include a distance traveled anomaly and a heading angle anomaly, and the processor 302 is further configured to perform the following method steps:
calculating the average running distance of the vehicle in preset time and the current running distance of the vehicle at the current moment according to the positioning data;
judging whether the average driving distance exceeds a first distance threshold value or not and whether the current driving distance exceeds a second distance threshold value or not;
when the average running distance exceeds the first distance threshold value and the current running distance exceeds the second distance threshold value, judging that the running state of the vehicle is abnormal;
when the average driving distance does not exceed the first distance threshold or the current driving distance does not exceed the second distance threshold, acquiring current course angle data of the vehicle according to the positioning data;
judging whether the current course angle of the vehicle exceeds a first angle value according to the current course angle data;
when the current course angle exceeds the first angle value, acquiring course angle data of the vehicle at the next moment;
judging whether the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle or not according to the course angle data at the next moment, and whether the course angle at the next moment exceeds a second angle value or not;
when the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle and the course angle at the next moment exceeds a second angle value, judging that the running state of the vehicle is abnormal;
and when the direction of the course angle of the vehicle at the next moment is the same as the direction of the current course angle, or the course angle at the next moment does not exceed the second angle value, judging that the running state of the vehicle is not abnormal. In some embodiments, the processor 302 is further configured to perform the following method steps:
acquiring positioning data of the next moment;
and analyzing corresponding course angle data of the next moment according to the positioning data of the next moment.
The present application further provides a storage medium storing a vehicle positioning data acquisition program, which when called by a processor, can perform the following method steps:
receiving positioning data of a vehicle and detecting whether the vehicle is in a running state;
when the vehicle is in a running state, judging whether the running state of the vehicle is abnormal or not according to the positioning data;
when the driving state of the vehicle is abnormal, filtering the positioning data;
and when the running state of the vehicle is not abnormal, the positioning data is sent to a server.
In some embodiments, the processor 302 is further configured to perform the following method steps:
acquiring the running speed of the vehicle;
judging whether the running speed exceeds a speed threshold value;
and when the running speed exceeds the speed threshold value, judging that the vehicle is in a running state.
In some embodiments, the driving condition abnormality includes a distance traveled abnormality, and the processor 302 is further configured to perform the following method steps:
calculating the average running distance of the vehicle in preset time and the current running distance of the vehicle at the current moment according to the positioning data;
judging whether the average driving distance exceeds a first distance threshold value or not and whether the current driving distance exceeds a second distance threshold value or not;
when the average running distance exceeds the first distance threshold value and the current running distance exceeds the second distance threshold value, judging that the running state of the vehicle is abnormal;
and when the average driving distance does not exceed the first distance threshold or the current driving distance does not exceed the second distance threshold, judging that the driving state of the vehicle is not abnormal.
In some embodiments, the driving condition anomaly comprises a heading angle anomaly, and the processor 302 is further configured to perform the following method steps:
acquiring current course angle data of the vehicle according to the positioning data;
judging whether the current course angle of the vehicle exceeds a first angle value according to the current course angle data;
when the current course angle exceeds the first angle value, acquiring course angle data of the vehicle at the next moment;
judging whether the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle or not according to the course angle data at the next moment, and whether the course angle at the next moment exceeds a second angle value or not;
when the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle and the course angle at the next moment exceeds a second angle value, judging that the running state of the vehicle is abnormal;
and when the direction of the course angle of the vehicle at the next moment is the same as the direction of the current course angle, or the course angle at the next moment does not exceed the second angle value, judging that the running state of the vehicle is not abnormal.
In some embodiments, the driving condition anomalies include a distance traveled anomaly and a heading angle anomaly, and the processor 302 is further configured to perform the following method steps:
calculating the average running distance of the vehicle in preset time and the current running distance of the vehicle at the current moment according to the positioning data;
judging whether the average driving distance exceeds a first distance threshold value or not and whether the current driving distance exceeds a second distance threshold value or not;
when the average running distance exceeds the first distance threshold value and the current running distance exceeds the second distance threshold value, judging that the running state of the vehicle is abnormal;
when the average driving distance does not exceed the first distance threshold or the current driving distance does not exceed the second distance threshold, acquiring current course angle data of the vehicle according to the positioning data;
judging whether the current course angle of the vehicle exceeds a first angle value according to the current course angle data;
when the current course angle exceeds the first angle value, acquiring course angle data of the vehicle at the next moment;
judging whether the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle or not according to the course angle data at the next moment, and whether the course angle at the next moment exceeds a second angle value or not;
when the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle and the course angle at the next moment exceeds a second angle value, judging that the running state of the vehicle is abnormal;
and when the direction of the course angle of the vehicle at the next moment is the same as the direction of the current course angle, or the course angle at the next moment does not exceed the second angle value, judging that the running state of the vehicle is not abnormal. In some embodiments, the processor 302 is further configured to perform the following method steps:
acquiring positioning data of the next moment;
and analyzing corresponding course angle data of the next moment according to the positioning data of the next moment.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (10)
1. A vehicle positioning data acquisition method is applied to vehicle-mounted equipment and is characterized by comprising the following steps:
receiving positioning data of a vehicle and detecting whether the vehicle is in a running state;
when the vehicle is in a running state, judging whether the running state of the vehicle is abnormal or not according to the positioning data;
when the driving state of the vehicle is abnormal, filtering the positioning data;
and when the running state of the vehicle is not abnormal, the positioning data is sent to a server.
2. The method of claim 1, wherein said detecting whether the vehicle is in a driving state comprises:
acquiring the running speed of the vehicle;
judging whether the running speed exceeds a speed threshold value;
and when the running speed exceeds the speed threshold value, judging that the vehicle is in a running state.
3. The method according to claim 1, wherein the driving state abnormality includes a driving distance abnormality, and the determining whether there is an abnormality in the driving state of the vehicle from the positioning data includes:
calculating the average running distance of the vehicle in preset time and the current running distance of the vehicle at the current moment according to the positioning data;
judging whether the average driving distance exceeds a first distance threshold value or not and whether the current driving distance exceeds a second distance threshold value or not;
when the average running distance exceeds the first distance threshold value and the current running distance exceeds the second distance threshold value, judging that the running state of the vehicle is abnormal;
and when the average driving distance does not exceed the first distance threshold or the current driving distance does not exceed the second distance threshold, judging that the driving state of the vehicle is not abnormal.
4. The method of claim 1, wherein the driving state anomaly comprises a course angle anomaly, and the determining whether the driving state of the vehicle is anomalous based on the positioning data comprises:
acquiring current course angle data of the vehicle according to the positioning data;
judging whether the current course angle of the vehicle exceeds a first angle value according to the current course angle data;
when the current course angle exceeds the first angle value, acquiring course angle data of the vehicle at the next moment;
judging whether the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle or not according to the course angle data at the next moment, and whether the course angle at the next moment exceeds a second angle value or not;
when the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle and the course angle at the next moment exceeds a second angle value, judging that the running state of the vehicle is abnormal;
and when the direction of the course angle of the vehicle at the next moment is the same as the direction of the current course angle, or the course angle at the next moment does not exceed the second angle value, judging that the running state of the vehicle is not abnormal.
5. The method of claim 1, wherein the driving state anomalies include distance-of-travel anomalies and course angle anomalies, and wherein determining whether the driving state of the vehicle is anomalous based on the positioning data comprises:
calculating the average running distance of the vehicle in preset time and the current running distance of the vehicle at the current moment according to the positioning data;
judging whether the average driving distance exceeds a first distance threshold value or not and whether the current driving distance exceeds a second distance threshold value or not;
when the average running distance exceeds the first distance threshold value and the current running distance exceeds the second distance threshold value, judging that the running state of the vehicle is abnormal;
when the average driving distance does not exceed the first distance threshold or the current driving distance does not exceed the second distance threshold, acquiring current course angle data of the vehicle according to the positioning data;
judging whether the current course angle of the vehicle exceeds a first angle value according to the current course angle data;
when the current course angle exceeds the first angle value, acquiring course angle data of the vehicle at the next moment;
judging whether the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle or not according to the course angle data at the next moment, and whether the course angle at the next moment exceeds a second angle value or not;
when the direction of the course angle of the vehicle at the next moment is opposite to the direction of the current course angle and the course angle at the next moment exceeds a second angle value, judging that the running state of the vehicle is abnormal;
and when the direction of the course angle of the vehicle at the next moment is the same as the direction of the current course angle, or the course angle at the next moment does not exceed the second angle value, judging that the running state of the vehicle is not abnormal.
6. The method of claim 4 or 5, wherein said obtaining heading angle data for a next time instant of the vehicle comprises:
acquiring positioning data of the next moment;
and analyzing corresponding course angle data of the next moment according to the positioning data of the next moment.
7. A vehicle positioning data acquisition device is applied to an on-board device, and is characterized by comprising: the driving detection module is used for receiving positioning data of a vehicle and detecting whether the vehicle is in a driving state;
the state detection module is used for judging whether the driving state of the vehicle is abnormal or not according to the positioning data when the vehicle is in the driving state;
the data filtering module is used for filtering the positioning data when the driving state of the vehicle is abnormal;
and the data sending module is used for sending the positioning data to a server when the running state of the vehicle is not abnormal.
8. The vehicle positioning data acquisition apparatus according to claim 7, wherein the travel detection module is further configured to:
acquiring the running speed of the vehicle;
judging whether the running speed exceeds a speed threshold value;
and when the running speed exceeds the speed threshold value, judging that the vehicle is in a running state.
9. An in-vehicle apparatus characterized by comprising:
a memory for storing a computer-executable vehicle location data acquisition program;
the processor is configured to invoke a vehicle positioning data acquisition program stored in the memory to execute the vehicle positioning data acquisition method according to any one of claims 1 to 6.
10. A storage medium storing a vehicle positioning data acquisition program that, when called by a processor, can execute the vehicle positioning data acquisition method according to any one of claims 1 to 6.
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